Power steering switch

Hey all, I have a 2012 Tundra and the check engine light came on the other day. I had the codes pulled and it's saying it has something to do with power steering. The reservoir is still full and I've not noticed any issues. He cleared the code and it came right back on. So he figures it's the switch (his words) or as I have always called it, a sensor. He said it shouldn't be a priority if we are just out on vacation etc. But we travel full time and pull our house with this truck. So it'd be good to know if something major does happen that the light would actually come on. I've only got 115k miles on it, so it seems weird it would go out. Anyone else have an issue with this part before?