Be systematic about this
- you will have checked the fluid level in the separate P/S reservoir
- check the pump drive belt for tightness. Intermittent slipping can cause this symptom
- if your car has cooling fans hydraulically driven by the P/S pump (some Camrys do, some not) the fault may lie in that circuit. Look to see the fans run when hot and when you have no steering assist for a clue
- is there any difference between left and right when hard steering? If so it points to a faulty control valve
- air in the system will cause this intermittent behavior, but you said the air has been purged out? If not, jack up the whole front end, start the engine, and turn the steering wheel fully lock to lock a few times, checking the fluid level meanwhile
- then, it could be the overpressure relief valve in the pump is faulty. This can be replaced without replacing the pump. You will need a pressure gauge to check this, best done by a steering shop
- then, the seals in the steering rack could be worn, but the loss of power steering should not be just intermittent if so.
More details here
http://www.turboninjas.com/camry/sr.pdf
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