Ghetto power steering flush.
Pretty simple. Buy 4 bottles of power steering fluid - Honda branded for my TL and civic. Buy a $1 Turkey baster from dollar store. Buy a $1 funnel from Walmart. Get some towels/rags. Get an old 2L pop Bottle.
Open reservoir cap...suck out fluid with baster till reservoir is empty....dump old fluid into pop bottle. ...dump in new fluid into reservoir. ...close cap...go for drive...maybe wait 2 days. Repeat process...until you notice fluid is clear in reservoir. It makes an immediate difference in steering wheel feel even on the first ghetto flush. And of course take your time....fluids are messy. So wipe up any mess.
OR...spend $120+ at dealership.