I would first check every suspension component on the FR, especially the control arm & bushings, knuckle, strut, tire rod end and sway bar end link, but since you've had it to a couple of places to check it is likely these components are ok. Because it is a high mileage 2013, with noise and steering binding/slop, I would also check the steering coupler. It's a simple part that fails often.
Replacement istructions here:
https://www.ft86club.com/forums/showthread.php?t=133606
BTW, the dealer will not just replace the coupler, they will want to sell you a pwer steering motor because that is what the service manual tells them to replace.
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2020 GMC Canyon Denali Duramax, 2021 Forester Sport, 2000 Subaru Legacy B4 RSK 5MT (JDM Import) and random 86 chassis rebuilds....