Good morning, inorder to accurately diagnosis this issue it will require a special tester to check the pressures:
The following procedure is used to test the operation of the power steering system on the vehicle. This test will provide the flow rate of the power steering pump along with the maximum relief pressure. Perform test any time a power steering system problem is present. This test will determine if the power steering pump or power steering gear is not functioning properly. The following pressure and flow test is performed using Power Steering Analyzer Tool kit 6815 and Adapter Kit 6893
CAUTION: The following test procedure involves testing maximum pump pressure output and flow control valve operation. Do not leave valve closed for more than three seconds as the pump could be damaged.
CAUTION: Do not force the pump to operate against the stops for more than 2 to 3 seconds at a time because, pump damage will result
Your local dodge dealer would have this tool and they are who I would recommend having check it further due to having the correct tools to check it accurately with out throwing parts at it. The foaming may be air in the lines. TO be sure start vehicle and cycle the p/s as much as possible and apply the brakes as well. Then turn engine off and remove p/s cap. Allow the fluid to become free of air bubbles and then repeat until the air is gone and the p/s and brakes work normally. If still not working then having the pressure checked would be your next step. Let me know if I can help you further.