Power steering slightly hang up on low idle turns

Hello, This is either a worn out power steering pump or power steering gear. If there are no leaks in the power steering system, the reservoir is full, the fluid is free of contaminants, I would recommend testing the pump for pressure at idle. The other thing is that one of the joints for the steering linkage or steering column may be binding (potentially the U-joint on the steering column), and turning at slow speeds could be more evident because you are turning more slowly as well.