It sounds like steering dampner needs to be replaced, it's an easy job it's a horizontial looking shock absorber, could also be warped brake rotors, I would take off one side of the steering dampner and see if it still has resistance, if not replace they test drive and if it still happens , time for brakes

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Jerry

2004 SL500 Black 55K Miles
2002 s500 Black 90K Miles
1986 300E Gold 233K Miles
1966 Twin Cessna 320D
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1994 Ford Van E150 399K Miles