I have a 2013 F150 Lariat. I was pulling out of the Driveway and the light came on and stated "Service Advance Trac/ Check Break System" Does any one no what that means?

 

Does the steering feel harder then normal?
Is there any grinding noise when the wheels are turned almost all the way left or right?
Pull the codes and let us know what they are.

 

No, there is nothing wrong with the steering. There is no grinding noise when the wheels are turned.

Took the truck to the Ford dealership to check the brake system and everything checked out ok. But Saturday evening when I was backing out of the driveway the "Service Advance Trac light came on along with the "Check Brake System". I'm totally confused, when I got out of the truck and went inside of the how for about 2, came back out and started the truck it is like the computer reset itself. I drove from Birmingham AL, to Huntsville, AL which is about a 1.5 hour drive with no issues.

I'm just trying to figure it out before I take the problem to the dealer.

 

Based on your year and model I would assume that your steering angle sensor is acting up, this sensor is built inside the rack and not serviceable separately. Ive seen quite a few with this sensor starting to fail but still work for a bit longer till needing a new rack. The annoying thing about this issue is that it will test good most of the time when the sensor is starting to fail.
Now it could be something else different and its hard to say definitely one way or another without codes.