Potentially damaged SAS and seeking feedback on errors

I think I have a damaged steering angle sensor on a gen 5 non-plug in. There are multiple error lights and text errors on the dash - see the attached picture for the lights and the text errors are typed out below. The car was likely driven with these errors for about 3-4 mins up to ~38mph, going through multiple braking cycles where a loud noise can be heard. Could it just be engine brake assistance given the low braking power? I've attached a clip of the noise - had to zip it to upload. I'd appreciate any insight on if braking in this state will have caused damage to other components (brake actuators, rotors, calipers, etc.).

Text errors on car start:

• Braking power low
• Brake override malfunction
• Secondary collision brake system malfunction
• Check engine (I'm assuming this is related to all the warning lights on the dash)