Steering wheel locked and car shut down while driving is it safe to drive again?

Basically what happened was I was driving on a local road (Toyota Rav 4 2014) and my car completely stopped running, the steering wheel locked, and I couldn’t move at all, I immediately pulled over the best that I could and shut off the car took my keys out and restarted it and it worked just fine

This was really scary, but I told the owner of the car and she said that it happens from time to time when the car is in need of an oil change

Is it safe to drive again? I have a really important event tomorrow I can’t miss, and I’ll be going to the auto shop right after