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If no leaks I would do a complete fluid change by removing the lower low pressure hose at the power steering reservoir. Place that line in a cheap 6" diameter tin funnel, squashed to fit, add a tube from the funnel to drain into a container on the floor. Cap the reservoir outlet with a vacuum cap.
Turn the wheel almost lock to lock, repeat, and then check fluid level. Add fluid when necessary. Run about 32 ounces of new fluid through the system or watch for the fluid color change.
If this does not fix the problem, I would look at replacing the power steering pump. But 34,500 miles is very low for a pump failure.
Next is the steering rack but again the car has low miles.
I'm with the others, clean uid. These cars have pathetically soft steering normally, I wish mine had the stiff steering a sports car should, instead of this soft old fogeys Buick steering
If the fluid change doesn't solve the problem it could be a bad ball joint. I had a ball joint fail (not on my Vette) and the steering got stiff first. Dealer replaced the steering rack, didn't help. Then they told me "They all do that". Then the front left corner of the suspension collapsed. Then the manufacture recalled the ball joints.
Most people don't know that our cars have 'variable effort steering'. When I bought my GS the steering was heavy but I also had a code set for this system. It is supposed to make the steering light for parking lot type manuvers an heavier at speed. My problem was in the antilock brake control wiring, which is one of the inputs used to control the pindel in the steering rack.