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Tried to post above and somehow didn't. Anyway, your power steering pump is going out if it does that at full lock. Common problem with WK, and I did mine at 75k.
 

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The symptoms will come and go, and are signs that you need to replace the power steering pump. Makes sense to also replace the serpentine belt at this time. Do it now before it fails completely and you get stranded.
 
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