Sound like lack of lubrication at the steering joints, your ball joints need greasing and make sure you bleed power steering system, check power steering fluid level.if low more like power steering system full of air need bleeding.
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if power steering fluid low need add more wait until cool down add fluid to the full cold mark let engine idle few minutes turn off engine.remove power steering cap if fluid low add more to full cold mark dont over fill.you need to raise front of vechicle support vechicle on jack stands with the wheel pointing staight ahead,make sure vechicle sitting on solid level ground.check fluid again.then start engine then turn steering wheel left and right dont stop turn steering wheel left and right quick stop do this several times then.turn wheels straight ahead let vechicle sit few minutes check the power steering level.if fluid level stop dropping and turning steering wheel feel normal all the air is out the system.you can lower vechicle down to ground check make sure power steering feel normal and you have no leaks before taking vechicle back on the highway.
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