It sure does sound like a stuck steering lock... Locate the steering lock underneath the dash and gently tap on it with something.
After seeing the video, I'm changing my answer to the electronic steering lock. Do search for the keyword ESL or EIS and you'll find several threads about fixing it. Here's a
recent one.
Giving it a gentle tap is probably a good way to test this hypothesis and maybe fix it temporarily, but be careful: if it starts working again eventually it may strand you somewhere again with locked steering.
A more permanent fix is to physically remove the lock while leaving the wiring to the lock connected, OR you can purchase an emulator, unplug the lock and plug its harness connector into the emulator instead. Either way you have to put the key in repeatedly while tapping on it until it unlocks first,
then disconnect the lock so that it's in the unlocked position. It doesn't do you much good to disconnect it while it's still locked.
Your other options are taking it to a dealer to have them replace the mechanism (expensive), or cutting it open with a dremel to unlock it by hand. See the other threads for details.