If your power steering fluid level is within normal range you may have what my 2004 Sienna had, a known issue where the u-joint on the steering shaft gets corroded. I was able to lubricate the u-joint and it cleared the issue. See this site for how to do it too: How to Fix Toyota Sienna Stiff Steering Share Your Repair
Check that the ignition switch wheel lock is disengaging completely and not catching on the teeth in the column. Check for seizing up joints in the steering shaft. Have a steering shop check it out as it is potentially dangerous
SOURCE: steering wheel very hard to turn left or right
The steering gear-oil must be filled to its proper level.
Next, make sure your balljoints, tie-rod ends, rack & pinion assembly are properly lubricated.
Wheel alignment, low tire pressure must be ok.
SOURCE: My toyota corolla 1991 doesnt
pull as hard as you can to the right at the same time turn the key the pressure of the steering being all the way is binding up the key and steering lock
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