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Could be a lower steering shaft u-joint that is starting to seize up. Especially since the car was sitting for 3 years. Your symptoms are similar to what I experienced on my 90.
Try spraying it with some sort of u-joint lube or penetrating oil. Even WD-40 might work as a short term solution. Best thing to do is turn the steering lock to lock for a few minutes and spray it heavily as you go...
If that doesn't work the first time, try a few times. If it's still bad it will need to be replaced. FYI - The part used to be about $90 from FCPGroton.com.
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