If you haven't already done so, swap your tires front-to-rear. Then check that tire pressures are at least minimum, and test steering feel again. I have had tires that appeared to have a perfectly normal wear pattern, with plenty of tread left, cause hard steering.

If your steering feel seems normal after this, then check alignment.

Steve

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'91 MB 190E 2.3
'08 RAV4 Ltd 3.5
'83 Lazy Daze m'home 5.7