Guessing, I would start my investigation on the power steering system. Maybe the fluid is not working to 100%, maybe the pump isn't either. Or maybe the the steering rack is showing signs of wear. If you have the 4WD model, that usually limits turning radius on some cars, but I don't know if that would decrease turning ability over time. I don't think a bad alignment would affect turning, at I presume low speeds, but could be wrong.