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Steering issue when selecting gear

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I have an 05' Sierra with the 5.3. When I start the truck up and put it in either reverse or drive(3,2,1) my steering wheel won't really turn well until the truck is fully in gear. Almost like it locks it out. In other words when selecting a gear from park the steering wheel doesn't want to turn until the gear I selected is fully engaged. Anyone else have this problem? Should I call the dealer. It seems like a safety function but I'm not sure.

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