Start by checking your battery voltages resting,idle and under a load. Inspect ground connection from the chassis to the engine, usually Toyota will run a heavy Gauge wire from a fender well to the intake. Have you scanned it for pending or active codes?

 

Likely bad battery or bad connection to it

 

Get it tested if you can't do it. Battery, charge, alternator output. Don't just throw parts at it. The fault must be isolated and found then confirm the repaired work tests correctly. Then you know you got it fixed.

Oh, your 1st post here. LOL Should spend time learning about the vehicle and things that need attention. Not just when a failure occurs due to ahh.... I won't say it.

 

Sounds like an electrical problem, I would guess your alternator is going out.

 

If you weren't aware, this vehicle has electric power steering which places a heavy load on the electrical system. So all of your symptoms point to the electrical system. I would think your steering isn't actually binding mechanically it is just losing electric "boost" which makes it seem sticky. Oftentimes it is easy to jump on the battery or alternator but I would take a hard look at the ground connection under the battery. Take it apart and clean it up. Get the battery load tested and replace if necessary. The alternator is more difficult and expensive to replace in this vehicle than most. If it comes to that, I think we would all recommend the OEM manufacturer, Denso, or a remanufactured unit from them.

 

Sounds like a battery problem. I'm not sure about the steering,sounds dangerous, unless it's electric and also linked to the battery problem.