More than likely this sounds like the pump is beginning to fail or the belt is slipping which leaves you will not pressure. Here are some guides that talk about this in a little more detail but if it were me, I would look to replace the pump and retest the operation to see if the issue is gone:
https://www.2carpros.com/articles/power-steering-problems
https://www.2carpros.com/articles/how-to-replace-a-power-steering-pump
The only thing I would consider prior to this is to change the fluid if it is low and dirty. If it is then that can cause different assist issues so that is worth looking at.
Below is the process from the manual on how to change the pump.
Let me know what questions you have.
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Thursday, March 25th, 2021 AT 3:45 PM