Get the battery and alternator tested for free at AutoZone to start. If it was hard to steer because it stalled out when the battery light came on, that’s normal. The noisy belt: if there hasn’t been any work in that area recently, I would inspect the belts and pulleys with the car off. That means looking for cracks, streaks, or abnormal wear and seeing if the pulley is loose wiggling when you manually manipulate it. It’s possible that if the belt is slipping the alternator is not properly or adequately charging the battery while driving if these two things are in fact connected. That’s where I would start. Have you checked the power steering fluid reservoir?

Despite the parts ‘being only a year old’ it would be good to do a careful visual inspection while it’s running AND exhibiting the symptoms you describe. Maybe post a good clear steady video of the area of the belt tensioner and alternator.

I’d start by testing the battery and checking all battery cable connections. And then same with the alternator. But you need special equipment to do some of that properly.