It is very probable that the power steering fluid is low.
This is awkward to check on these engines, so people often forget to. Nonetheless, any idiot can manage it.
Pop the hood, lean over the passenger side fender. Next to the strut tower, you will see a cap under some hoses right up against the firewall. Pop that off to check the level on its attached dipstick.
If it's low, it's a $6 fix. Buy a bottle of power steering fluid from any parts store with a long skinny funnel, add a little at a time and check.
Sometimes, this could be caused by air settling out from the factory fill. If you encounter low fluid again, it means you have a leak - that stuff does not just evaporate.
