Welcome to the forum, gotnocars. From the symptoms I'd first think a bad bearing on the steering column, but with some of the earliest electric power steering systems you could feel 'cogging' from the assist motor during very slow turns, and I'd expect a power or motor control issue to be more likely. How many miles are on your car, and has it seen any severe service? I expect the daily autocross routine to the home of JoeS would reveal any steering weaknesses earlier than for the rest of us.
2012 i-SE "MR BEAN" 87,000 miles
2012 i-ES traded at 21,648 miles
1983 Grumman Kurbwatt,170 kW, 32 kWh
1983 Mazda RX-7 EV 43 kW 10 kWh
1971 "Karmann Eclectric" EV 240 kW 19 kWh
1965 Karmann Ghia Cabriolet