2006 Sonata steering/brake issue
 

Recently my '06 Sonata has been feeling as if the steering is locking up when braking from highway speed to exit off ramp speed. It is very temporary and fortunately I am essentially going straight at the time and do not need to steer left or right measurably, however, it is very scary to feel the steering column lock up like that, even if only for a moment. The first time it happened I checked the power steering fluid and it was fine. All other fluids are regularly checked when getting oil changed. Has anyone had a similar experience?