2017 PriusV steering clunk and harsh ride over small bumps

My 2017 PriusV has 40K~ miles and I get this weird clunking sound when turning the steering wheel left/right while standing still or driving at low speeds. When going over smaller bumps I can feel them and the sound is pretty harsh as I can hear that clunking sound. Other than that, the steering is tight, it drives good and it's just driving me nuts not being able to pinpoint the problem. Here is a video of what it sounds like, I can feel the clunk in both tie rods, putting my hand on top of the steering rack, I can't feel it. Does the steering rack need replacing?

 

Ok, so I took a 300~Mile trip and noticed something strange. When coming towards dead center, it's binding. If I make a turn either direction, let go of the steering wheel, it corrects until it binds about 2 inches from center in each direction on the steering wheel. I am going to assume it's just a bad steering rack and replace it.

 

Replaced the rack and pinion and the noise is gone! It was getting worse by day, bit the bullet and tackled the swap. It wasn't as easy as I originally thought but it was worth it.