Good evening,
Did you check the power steering fluid? It sounds like you have had a hose fail.
From the sounds of it, the fluid has been neglected and never changed.
https://www.2carpros.com/articles/how-to-replace-a-power-steering-pump
Once you determine the source of the leak and repair it, you should flush the system of all the bad stuff and replace it with clean fluid.
https://www.2carpros.com/articles/power-steering-fluid-flush
I attached a picture of where the hoses attach to the rack and pinion. The other ends go to the pump. It is very tight in there to get to the lines on both ends. The hose most likely failed right where the hose is t the firewall and that is why you have fluid inside the car.
The hoses are available at any parts store.
Roy
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Thursday, January 16th, 2020 AT 3:07 PM