The steering wheel of my 2010 Hyundai i30 locks when I drive. It's happened three times and is now with a dealer and they say it will cost $4700 to replace steering column. My car was recalled for this a few years ago.
The car is getting on in age, otherwise I would suggest you contact Hyundai and request a goodwill payment to help with the cost of replacing the column. There’s not much you can do other than replace the column, although you could perhaps use a second-hand column to save some money.