I now have a harsh steering at low speeds. I notice a squeaking noise from the steering column. Checked tire pressure its fine. Checked PS fluid level and seems at max. Could it be some contamination? I used a wooden clean stick to check the levels as it was not visible from outside. The squeaking noise leads me to believe that the oil is not circulating well to the column. Also being 2016 seems its EPS so not sure how PS oil is used. Thoughts on next steps?

 

I had the same problem on my 2016 RRS HSE, took it to the dealer to hear the noise (more like a groan than a squeek). The dealer told me it comes from where the steering column goes through the firewall and that they would advise replacing the steering column for $1500. I went home, got a flashlight and found where the steering shaft goes through a rubber boot in the firewall and sprayed it with silicone. I also removed the trim under the steering wheel inside to expose the same rubber boot from the inside and sprayed silicone in there too. Noise gone, steering smooth again for no cost! Now, I give it a little spritz from under the hood every 6 months or so.

 

If the previous recommendation does not work check your lower steering column boot it may be torn and you have probably lost all the grease from that boot. Lower steering column needs replacement at this point. Easily accessed from left wheel well