So I have an 05' Tl and have experienced stiff steering when pulling out of a parking spot or trying to steer at low speeds. PS fluid is filled to the top btw but no idea what is causing it to be stiff

 

failing PS pump. when you look at the PS resevoir, do you see bubbles? It could be air as well, common failure on this car is the o-ring on the inlet side of the pump which causes the pump to malfunction/fail prematurely.

 

What would be the average cost to replace the pump for my car in particular?

 

It calls for 0.5h of labor. So depending on the shop it might be around $40-$100.
Now add some fluid, let's assume $20.

The pump itself on Rock auto (cheap ones) range from $120 - $200 but I wouldn't trust them. Autozone ~$150 but it's "duralast" brand - meaning you might get lucky or might get used to replacing them.
I guess dealer would charge ~$400 for reman pump.

So done right you might look at ~$500. But that's just guessing. Call the dealer and ask for quote.

 

I had my honda/acura specialist do the job for $250, now the steering problem is completely gone. I just found out that I'm going to need a valve adjustment though since my car is spitting out a p0172 code. He said he can adjust them for $500, is that too much?

 

What does $250 include? Just curious what he did to solve the problem.

P0172 means bank 1 too rich. There can be many causes of that.

Valve adjustment calls for 3h plus price of gaskets required for valve covers.

 

he replaced the pump, flushed the power steering and put new fluid. And with the adjustments, he checked everything and found out it was my valves, so is willing to adjust them for $500 and said it would take 4 hours to do, also that I would have to leave my car with him since this needs to be done on a cold engine.

 

Well if you trust him then go ahead

 

Lol valves would NOT cause steering problems. It may cause noise or misfire worst case. Considering how hard it is to tell if the valves have been adjusted, do make sure the job was completed. Look around the valve cover area to see that it has infact been taken apart.

 

i wasn’t saying the valves cause the steering, I was saying that I needed a new pump as well

 

Oh yes sorry don't know how I misread that.
but I would say at least have the mech call you when he opens up the top to see just how out of spec they are. I can't stand the BS many mechanics spew.