ABS light on, P-steering noise

[Shagnasty]

Newly single, and having not camped in 7 years, I took "new girl" out camping @ enchanted rock st. park near fredricksburg tx. On the way, my brake pedal felt different, and the abs light came on. Also, my power steering started making a lound griding noise that changed w/ the rpms of the motor. Is this pump piston based? It went away after several hours when i had to turn almost full lock. Any chance this was air in the hydrolic system? Since it's gone, should i still have it checked out? Also, any idea on how to troubleshoot the abs thing?

 

[Shagnasty]

ttt

 

[TPLYNCH]

PS was probably air. ABS may just be a dirty/misaligned/disconnected sensor, especially if you've been running around through the wild