'23 W900L Steering Issue

Well, Happy New Year guys! Starting off the year not so strong, lmfao.

Anyways, I got to a customer site and while turning, my steering started shuddering/hiccuping while turning. About a 1/16th of a turn each way you start to feel a wall, then it gives, then the wall, and so on and so forth. There is no audible sound, all metal components linked to the steering do not feel bound up, loose, etc. No visible leaks from what I can see, but there was a very very mild wet spot where the line connects to the bottom of steering fluid reservoir. Fluid level is as it should be according to the reservoir tank. It has 240k miles and I have yet to do a service/flush on the steering pump/reservoir.

Is it likely I'm experiencing a pump failure or did air manage to get into my line? How would I go about releasing air from the system? Simply cracking open the fill cap of the tank? Any other checks I should be able to do without a mechanic to diagnose my issue?