I just purchased a used G35 with 185k miles. When we got it home, we noticed that the steering was difficult and kinda hitchy, but only in reverse. Has anyone had this problem before?

 

Look under the vehicle for the little U-joint at the bottom of the steering shaft before it enters the rack & pinion. Spray it with a healthy dose of lubricant like Tri-Flow or All4 Lubricant Spray. It will "fix" the problem for a while but get ready to replace that U-joint sometime this year.