First check the 'rag joint'. In the engine compartment, it's a
flexible textile joint about halfway down the steering column. There
should be only just a tiny bit of play at this point. Replacing this
is cheap (parts <$20) and within the capabilities of almost any
backyard mechanic, as it requires no special tools nor skills.
Next look for leaks in the power steering actuator (looks like a
horizontal piston) or the hoses, as well as around the pump. The
leaks will tell you what needs to be looked at next. If it's dirty
it's hard to tell; clean it up and wait for the leaks to show.
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