I live in Japan and have this exact problem in my 2021 civic ex. It gets somewhat locked after a few kms on the highway and then you hear clunks and it feels like it's lightly locking up when turning in either direction. I took it to my local dealer here in Niigata and after two test drive sessions they called the manufacturer and they said it is the EPS (electronic power steering) otherwise known as the steering gearbox that is bad and they are replacing it this Friday (5th July 2024) and if there are still any problems after that they will replace the whole rack.
Cons: gets locked, hears clunks, EPS is bad
Vehicle:
Honda Civic