Code P0500, speed sensor issue?

So, it looks like you have more than one problem here, we will handle the EPS problem on this thread please create a new question for the p0500 code.

The P0500 code on your 2009 Toyota Corolla indicates a "Vehicle Speed Sensor (VSS) Malfunction."

It is common for the EPS system to go out and must be replaced, here is how the job is done in the images below and I have included the recalibration instructions as well.

Check out the images (below). Please let us know what happens.

P0500 on that car is typically a bad circuit to speed sensor A or a bad speed sensor as it means the system is not detecting any pulses from the sensor. The sensor is on top of the transmission hidden under the air intake box. It's a favorite location for rodents to get into and chew on the wiring. As such it would be the first place, I would look for damage. To get to it you remove the air box and inspect the wires to the speed sensor. If the wiring and connector is okay then the quick test for a DIY is to just replace the sensor. It is secured with a single bolt that gets torqued to 48-inch pounds.