Another person here had a DAS malfunction similar to yours. After it reset it did not replicate. A gremlin? If it does it again; dealership time.
<- he may have a more valuable commitment.
I do have more valuable commitments but I'll always have time to help others here if I can.
The DAS system can go into protection mode for many reasons. When the Power Steering Warning light comes on, the DAS system will engage the DAS clutch, steering effort will increase and the steering wheel may be off-center. The warning will clear after turning the engine off and back on if the underlying reason has resolved itself. Other DAS issues will continue to display the Power Steering Warning light after cycling the ignition if the problem still exists.
One thing that can cause DAS to enter protection mode is if you turn the steering wheel with a force stronger than the butting reaction force generated by the steering force motor. This will clear with an ignition cycling.
Another condition that can cause DAS to go into protection mode is when the steering wheel is operated repeatedly or continuously while parking or driving at a very low speed. The power assist for the steering wheel will be reduced and the steering wheel may be off-center or feeling in turning steering wheel may change.
This is to prevent overheating of the direct adaptive steering system (Steering Force Control motor or module) and protect it from getting damaged. When the temperature of the direct adaptive steering system cools down, the power assist level will return to normal. Avoid repeating steering wheel operations that could cause the direct adaptive steering system to overheat.
If the internal temperature of the steering force motor exceeds 302 degrees F or the internal temperature of the steering force control module exceeds 194 degrees F, DAS enters protection mode. As stated previously, this is temporary and will clear itself when the offending temperature drops back down below the temperature limit.
If DAS remains in protection mode after ignition cycling and/or allowing DAS to cool down, then you need to take the car in for service. Without a CONSULT scan tool, diagnosing a DAS problem is essentially impossible for a shade-tree mechanic and repairing it a job best left for the service techs.