It's easy enough to check if there are loose components in the steering. Get a friend to help wiggling the steering wheel while you get under the car and feel for loose fitting things, like tie rod ends, the pivot point of the steering mechanism on the opposite side of the car from the steering wheel. (Just in case you don't have a RH drive). Any looseness there indicates wear and should be addressed. Check every thing by taking a good look at it while you are under the car. You never know what else may be ready to fail. You don't have to be an expert to recognize when something is loose or leaking. Better safe than sorry.
It all seems fine.The best way to describe it is like when you have a leaking brake servo and the pedal drops when the engine is off but its ok when the engine is running.Almost like it might be something to do with the power steering? The handling is good. While on the subject of checking for damage, i did find the tie bar that goes diagonally from the front middle subframe to driver footwell is snapped. Anything to be concerned about? (i know its nothing to do with original question)
Not in and of itself, no. But, I would like to know why it snapped. Fatigue would be my guess but why? Is there something loose under there that the tie bar is attached to that would cause the fatigue? Perhaps it could be welded back together.