My other car is a 1991 Camry and I've started to noticed that when I turn in either direction, the car would be difficult to steer. In addition, a loud noise could be heard under the hood when steering. When I drive the car straight there seems to be no problems at all. Sounds like something in the steering system is bad but what specifically could be wrong? Any ideas and what it might cost to repair?

Have you checked the PS fluid?

Either your PS fluid like he said or it could be your pump. If its hard to turn in either direction i think it would be your pump most likely.. if it is making a weird noise.