I would suspect Walmart may have added the wrong fluid to the power steering system. Pep Boys accidentally put engine oil in a friend's car - I imagine because the fillers are right next to each other? I dunno. Seems like a really dumb mistake. It clogged up the power steering filter, which deprived the pump of fluid, and then both needed to be replaced. I drained the system (which is when I actually found the oil...), replaced the parts, and flushed it a couple times with the correct ATF. Works great now!

If you have a filter on the Expedition I would check it for clogs, and then flush the system. Just remove the return hose from the reservoir and aim it into a bucket, put the nose in the air, then have a helper start the engine and slowly turn the wheels back and forth, pausing just before full stop in each direction. Add clean, new fluid as the old comes out. Stop when the fluid coming out runs clean. Replace the filter, and see how things are. Cost is about $20, and I'd say worth it before committing to serious repair.
[This message has been edited by thesameguy (edited 06-07-2013).]