Is there a way to find out if the power steering pump is going out without looking at it?

So some backstory, I've been having some trouble with the steering on my '05 525i. When I turn the steering wheel, you can hear like a clicking sound from outside, and you can feel it on the steering wheel inside. The steering also feels a little heavier than other cars I drive (I also have a Toyota Tacoma and the GF drives a Mercedes Benz C-class) or have driven. I can't figure out why its doing that but could it be the power steering pump? Is there a telltale sign of it starting to go bad?

Not sure if it has anything to do with it, but I feel like this all started happening after I adjusted the steering wheel for the first time in I don't know how long. Also, my vehicle is set to move the steering wheel up when the key is removed, and when started move it back down to my desired and saved position, but when I try to move it down a little more, it gets stuck, I kind of have to push it down to help it out?

 

Steering pump must be OK Check the bottom hinge of the steering shaft

 

Not sure exactly what I'm looking for with that, it looks fine?