2010 Chevy Impala power steering and abs

Are you leaking power steering fluid? Is belt slipping or is it gone? Keep close eye on level and see if you have a pressure loss due to a leak. Maybe put front on jack stands or lift if you have one and have someone else turn steering wheel and see if you have any pin hole or rack leaks. Is the fluid getting on your brakes? Clean brakes and rack with brake cleaner and see if parts get coated with fluid. These racks have O-rings at the fittings that will leak with age. Also rust will eat holes in racks.

No the power steering fluid has stayed full but when I was under the car I noticed what looks and kinda smelled like motor oil but when I checked the dipstick for that it was fine. What are the chances that it's just the power steering pump or the rack and pinion and what are the chances it's both? And which one is easier to fix?

A pump is easier than the rack. A rack on a car is more difficult than a truck or van that sits higher and most of time can drop down. Cars have to go through a wheel well and twist and turn certain ways to get them in and out.

I believe your steering column is slipping or stripped where it connects to the rack. Take a look at this connection

If you are not hearing whining noises or grinding I would not suspect either the pump or the rack. It sounds like an issue at the end of the steering column and alignment and tie rod lengths. You might consider going to an alignment shop and letting them diagnose