What else can be done about the steering tightening when driving or backing?

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My 2009 Sonata terrifies me when driving on off ramps or attempting to make turns at times because of a problem with the steering tightening up both while driving on the highway and when backing up or turning in small areas. I feel like Popeye when I have to back out of a lot and normally have to try 2-3 times to pull forward, attempt to turn my steering wheel and back up again in order to get out of a park. I have all fluids checked routinely and they are at the appropriate levels.