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Next question is........what were you doing just prior to the steering becoming hard?
Do some searches for posts from Element Tuning. Phil has an FRS that is a pure track car and he has run into this problem several times while on track. If memory serves me, the power steering is an electro assist and the unit is on the lower part of the steering column under the dash (I believe).
There may even be some info in the owners manual about it.
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