There is an issue with your electrical Power Steering (EPS) hydraulic fluid pump. You need to check the condition of the belt (on both pulleys) as it's being driven by the engine. If you REV the engine, while turning the steering wheel, do you feel a significant amount of resistance? You may have to check both valves in the hydraulic lines as well.
PS: I assume that you have sufficient amount of (clean) power steering fluid in the reservoir already.
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