car shuts of when turning steering wheel

As i turn the vehicle on the car idles at 700-900rpm and continues to surge. After a while the car idles at the normal idle. When i turn the steering wheel the car shuts off. But you can drive the car straight forward and reverse without touching the steering wheel. Does anyone know what could cause this kind of problem. The CEL is also on how do i check it on a toyota sienna and could they check what the code is at autozone?

When you turn the wheel, the power steering pump puts a greater demand on the engine. If the engine is idling too low, it will stall out. If you are pressing the breaks at the same time and using engine power for the power breaks, it is even worse.
If the problem occures only when the AC or defrost is on, then the relay that is supposed to increase the idle when the compressor is engaged is possibably faulty.
If the problem always occures then your idle stabilizer may be dirty or sticking. If you know what it is, try removing it and cleaning it with carb cleaner.