My son has a 2008 GS350. Drives into work and as he parks, steering wheel locks up. Displays "Check Power Steering System". Displays "Brake Malfunction". He can start the car just fine.
Any suggestions on what to do?

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Two things to check:

1. ABS pump
2. Power Steering pump

 

Check the battery to make sure terminals are clean and no interruptions, like dirty battery terminals, or a weak ground.

Best option would be to A: buy a toyota specific scan tool ($15 bucks off ebay) B: take it to the dealer to run diagnostics

But considering the mileage, I would suspect a bad alternator! A quick trip to an auto parts store to have them test the alternator may help you out