steering stiffness/2012 Tacoma

Always start with the easy stuff. I've seen folks get all into error code checking and so forth when a simple fluid check or such solve the problem.
 
Look at the universal joint on the steering shaft near the power steering pump. The seals fail on those u-joints and they rust and make it stiff. Try using a spray can of bicycle chain grease to hose it down.
 
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