Cannot start the car, MIL indicator is on and when I push the start button, all indicators occur: check park brake, have power steering serviced etc

Driving on motorway car went into neutral, I was doing about 50mph, started losing power, kept trying to get it into gear and it went back into gear before I came to standstill. Next day it wouldn't go into drive or reverse, making whirring noise. A while later went into gear ok. So problem seems to be on and off. Could it be electrics related, no warning light is coming. Also about a month ago, the power steering went while I was driving, took it to a garage and they reset it and hasn't happened since.