it was determined to be the 4WAS actuator. which, according to the dealer, is a $2k repair bill...

I find that to be, a bit.... excessive.

Yours could be different, but those 3 lights being on mean that multiple things on the car are disabled, including ICC if you have it.

 

FYI, I just had the repair done. mine was the front 4WAS lower steering column. Everything is fixed, including the steering wheel alignment. not a cheap job, but insurance paid for it.