Steering is too loose at high speeds

I have other complaints with the steering, but none along the lines of the 2- to 17-year-old posts above.

 

Curious to know what your complaints are compared to 2004-2009 Prius? I'm new to this 2010 and first thing I noticed was a significant loss in turning radius. It takes way wider U-turns than the previous generation Prius. Or maybe it's part of what's wrong with this car? I'm not seeing anything damaged under it yet though?

@Tombukt2 got back to me with this Youtube video that shows how to replace a dampener on the power steering motor and I suspect that this will solve the thump sound but probably won't solve the loose steering that makes it bad enough that I can't drive on the freeway safely.