It could only be a couple of things, it could be that you are low on fluid in the power steering pump, or that you have an issue with your rack and pinion steering unit. I have not heard of any issues for this model concerning the rack and pinion, so you will want to check the fluid level, and you may want to drain and replace the fluid seeing as how it is 9 years old, it will break down over time and use. You will also want to make sure that the belt is not slipping when you are turning the wheels as that will cause the same issue.
Have a competent shop look at your steering rack. They go bad without leaking, internal seals go bad and don't hold constant pressure.
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