Best case: power steering pump
Worst case: rack and pinion
Based on what you said, Rack

 

BESTEST case scenario is a need to flush the power steering fluid and get it replaced with synthetic....

 

Damn I knew I forgot to add something, thanks Kit

 

I forgot to add I checked the power steering fluid. It was slightly low. I topped it off. It didn't change anything.

 

Then you really SHOULD try this 1st...there may be air in the lines...

1. put TWO square sheets of plastic under each of the front tires...this will allow the wheels to turn smoothly on the ground.
2. open the cap of the PS reservoir
3. make sure the level is between min and max (minimum and maximum) lines (whether hot or cold)
4. turn the steering wheel from one extreme to the other slowly about 4 times...
5. any air bubbles in the line should now be purged
6. check the level again and make sure it's between min/max lines

...and with luck all will be well and smooth again

 

Jack the front of the vehicle off the ground and turn the steering wheel lock to lock several times. That should eliminate air in the PS system. Avoid holding wheel against locks.

 

Does it matter if the car is on or off when I turn the wheels?

 

I did it with the car off and then on.
when the car is on, I get the hard/easy turning thing. with the car off, it is consistently firm.
I don't know if that means anything.

So I turned the wheels. I think the fluid level dropped a little. and I think it's a little easier to turn, but barely. I only did it 3-4 times. should I have done it more?

 

Did you do it as described above (w. opened cap)?

 

spray some PB Blaster on the U joint where the steering column and the rack meets. Turn the wheel a couple time to get it really soaked. It's should be below the brake booster. I had an issue with my friend's Camry (1995) that had a easy hard easy hard issue like what you was explaining. That fixed the issue. My dad's camry (2001) had an issue where it would not return back to center. I sprayed some PB blaster on the U joint and problem solved.

Check your struts to see if it could also be a spring/mount issue as well if those two do not fix the issues.

 

When done fixing it, a good idea (great idea really) would be to flush the fluid as Kitacamry indicated. Valvoline MaxLife ATF fluid is great for the power steering, and WalMart sells it for under $5 a quart. Takes a little prep but there is a DIY here that guides you through it. Makes your steering feel like butta when you are done.