First thing as you say is check the fluid level - bumper off job!! If it's down then you've probably got a leak.
Then I'd get under the car, you'll need to jack it up, and have a look at the steering rack for any leaking from it. If it's leaking, and you're feeling it in the steering like you are then it's a new rack!! It may see you okay for a while, but it could just go one day when you least want it to.
I've had this exact same thing with mine - MOT in May gave an advisory on it for weeping. More recently I saw that it was doing more than weeping. Once I fit my turbo back on again, I'll be getting a new rack for it. If yours is leaking, and given you are under warranty, I'd get it straight down to Vx to deal with.
D
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