Update 7/14/19: It actually turned out to be low and old/dirty transmission fluid. It’s a Subaru all wheel drive, issue went away when only FWD was enabled. Did a drain and fill of transmission fluid 4 times and the issue is fully resolved.
There was a bout of torrential downpour and lightning here the other day that is not common. I drove to a store and there were certain locations with high water across the road. Even a spot on a main/busy road had high water.
The next day when turning, more noticeably at low speeds, the wheel area started to jerk. Like it would be fine for a second then was like something was stuck in the wheel and would repeat that.
I thought something must have happened to the wheel assembly area. Then I thought maybe water got in the timing belt area causing it to slip as the timing belt cover has been off.
I read online people saying stuff about the power steering pump.
I took it to a parking lot to try and experience it more clearly. Only when turning it was like there was major front suspension damage.
So I decided to get out and check the power steering fluid level. Maybe it was low or leaked. Checked it twice and it was at full.
Got back in the car and the issue was gone! Apparently air had become trapped in the power steering system after driving through high water, and opening the cap let it out.
Easiest simplest fix. I thought it was going to be hard/time consuming to diagnose.