Power steering randomly working/not working?

I went to start my car in the morning and the EPS light came on and steering was hard. I turned the ignition off and when I turned the car back on, the error did not show up and the power steering was working. I faced no issue for the next few days when one day I parked my car in front of a shop to go get some stuff and when I came back, EPS error showed up upon starting the car. However, this time it did not go away after restarting the car. I drove around like this for a few days and one day the error went away, and the power steering was working fine again. Kept working for over a month and then again stopped working just a few days ago. What could be causing this and how to get this resolved?