Stiff steering on 1999 Toyota Camry

My problem is that the steering is stiff (like not having power steering at all) the fluid level is up, the drive belt is working. For the last 2 weeks , when driving sometimes it is stiff and others not. For the last 2 days I have to use 2 hands to turn the wheel, and also have to turn the wheels back, (they don’t return on their own) Today the steering worked perfectly. Could this have something to do with seals in the power steering pump or the rack and pinion steering? It seems to correct itself at times.

You pretty much answered your own question.

It is likely the rack (internal leaking seals) or a faulty power steering pump. Perhaps a slipping belt?