2007 Toyota Yaris Loose Steering

Steering problem
2007 Toyota Yaris 4 cyl Front Wheel Drive Automatic 21000+ miles

During the winter months in temperatures of 30 or lower and in snow my steering feels like it has very little control and feels "loose" so to speak. When I move the wheel from right to left and vice versa it turns too easily and does not have much tension to it. The wheels themselves also turn too easily, and though I drive more carefully on snowy or icy streets I still feel like I have little control of the car when driving on a clear street or highway.