Sounds like your Power Steering Fluid is low. I would take a look under the hood and see if you need to add some more. Also your toyota should tell you what fluid to use on the cap of the fluid container. Toyota yeah? the last time I filled mine up it said to use DOT-3 or something like that. either way its a cheap fix, costs around $15-20 to buy the fluid.
-First check to see if your power steering fluid is low
-if low, fill it up
-if problem persists see a mechanic
-if its not low see a mechanic
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