I'm probably describing the steering issue wrong. I agree, when in motion, its tight and handles well. WHen parked not moving with the engine running, if you jiggle the steering wheel left or right just an inch or so but do it left and right quickly, it is like there is no resistance at all until there is and there is a little clunk when that happens - this makes it feel "loose/sloppy" etc. I only have my 2013 mazda 3 to compare it to. When I do the same thing, there is no change in resistance (it is tight from the start) so there is no feeling of looseness at all , or slight clunk.
Does that make more sense?
As for the whirring noise in the steering wheel, imagine backing out of your driveway onto the street. YOu cut your wheel sharply to get out on the street. And when you turn the steering wheel to stratighten the wheels to get moving forward, it makes the whirring noise. I do not hear this noise any other time while driving - it only seems to be when turing the wheel all the back to straight after being hard cut.
Now this honestly may be normal for these as I have never had a vehicle without power steering fluid, so maybe it's the the electric steering.
I hope that helps describe it