Your power steering fluid is likely polluted. Suck out with turkey baster as much as you can and refill with new to "full" mark. Repeat above after running motor and turning steering wheel from side to side while warmed up. That should remove the water that causes polluted steering fluid before it ruins your pump.
Answers & Comments
If this has electric steering it could be the steering sensor at the steering rack.
Your power steering fluid is likely polluted. Suck out with turkey baster as much as you can and refill with new to "full" mark. Repeat above after running motor and turning steering wheel from side to side while warmed up. That should remove the water that causes polluted steering fluid before it ruins your pump.