Steering seems to jump

MS6fr152

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2006 Mazdaspeed6
Occasionally when I'm in a sweeping constant radius turn, I feel the steering wheel pull to the inside a bit, just enough to feel. It doesn't seem to affect the line of the turn but I can feel it in my hands. It does it after I've been in the turn for a few seconds, not right at the turn-in. I notice it on a particular turn now and then, and it's a nice smooth road without dips or potholes. It feels like the power steering gets more powerful just long enough to kind of tug at the steering wheel. Any ideas what might cause this?
 
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