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The power steering resevoir is usually indicated by a red cap with a embosed picture of a steering wheel or road wheel on it. Sometimes it is not coloured but has the embosing on. If all else fails open the and look inside, the steering fluid will be red in colourl
Yes, you do have power steering. Exactly what is going on with the steering? Does the steering wheel seem to be jerking or twitching as you turn? You may be able to pour in some Honda steering fluid (or Import Fluid Approved for Honda). It will be a red cap to the right as you are looking at the engine. If this fixes the problem temporarily, then you need to find where it is leaking from to fix it.
If the groaning sound is still happening, you are probably low on power steering fluid. I suggest starting there. Remove the cap and check the dipstick attached to the cap. The reason the sound would go away at high speeds is that you don't turn the wheel as sharply at higher speeds so the pump is not trying to pump air ( that's the groaning sound ).
If you are low on PS fluid, fill it but check for leaks for a while. Look under the car in the morning for fluid. If you spot a leak, take it back to whomever replaced the hose and have them fix it.
As far as the engine light goes, first make sure the gas cap is on properly, meaning all the way. Turn it till you hear it click several times. If that is all it was, the light should go off after 20-30 miles or so. If it stays on, try changing the gas cap. That is probably one of the cheapest routes to go.