Mine was clearly a low battery issue, especially in cold weather but it clears as soon as the engine has recharged a bit and doesn't reoccur during the day. I will have to replace the 7yr old battery before winter.
A more concerning thing happened with another local XV. They need to access across muddy lanes and the power steering motor is low down and vulnerable to getting a load of crud around it. This guy has had to have the whole rack replaced and Subaru only part was £1200!