hi drive a 2i 16v
my gearsticks got a similar problem been told its the selector bush
my steerin aint that heavy so u probably have a problem, if your wheels are standard pressure is 30 all round
the light thats stays on is it the one near your handbrake light?? if so check ur brake fliud level (as it lights when low did on mine anyway)

hope thats some help for ya