first, pull the clock fuse and see if it re-set the EPS.
then, visit the dealer.. go thru the steps as stated in the manuel to check if it is the EPS, a computer that went, or related to the torque sensor if it is an earlier auto.
In some instance, there may be warranty. in my case, I replaced the EPS and the speed sensor when I had the problem about 20 months ago. recently the EPS lite came on again, the code read faulty torque sensor. a new steering box is required as no separate part avaliable as per shop manuel. it is extremely expensive and presently I just drive without the electric steering.
good luck if the fuse would fix the proble,. if not, you will pay big bucks..mine X is 91 with 36k miles..