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If your talking about sitting idle and turning it all the way in one direction til it doesn't turn anymore then yeah my kinda does like a slight vibration, I think its just the motor trying to help the powersteering pump out but since its idling you feel the vibration as the motor loses a few RPMs. I think its totally normal. As long as its not doing it while your doing "normal" steering adjustments like one complete turn of the steering wheel and itsn making noises, specially whining ones then your good to go. I'm assuming by shake you meant vibrate, if yours is shaking and shuddering then yeah there might be something wrong then.
Proud owner of a 2006 Impulse Blue Pontiac GTO