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Its hard to describe noises simply by text of course. I feel sure you have checked your power steering fluid, but in case you haven't do that first and try to make sure it has the correct fluid. A remote possibility would be CV joints, but they tend to make a clicking sound. A worn out PS pump or one low of fluid can indeed make a roaring sound. Pumps normally work flawlessly past 100,000 miles.
Check the power steering for low fluid in the power steering fluid reservoir on the front of the engine. Refer to your owners manual for illustration and location. If the level is low you have a leak, look for a red fluid on the ground under the car when parked.
It's probally low on power steering fluid. If you open the hood, look on the left side right over the passenger tire. Theres a resivore there for power steering fluid. Unscrew the cap and wipe the dip stick clean. Then put it back in and pull it back out and see how far up the stick the fluid reaches. Make sure you put it in all the way so you get an accurate reading. If its low, add some until it says full on the dip stick. then put the cover back on, start the van and turn the steering all the way left and then all the way right a few times. The noise should stop as long as that was the problem. Windstars and known for having power steering leaks so I am going to bet that is the noise your hearing. It's a low toned, whining noise if it is low on power steering fluid. Hope that works for you. Good Luck.
YOU NEED TO BLEED POWER STEERING SYSTEM BY HAVING LOW FLUID AIR ENTER THE SYSTEM.PARK CAR ON SOLID LEVEL GROUND SAFELY RAISE SUPPORT VECHICLE ON JACK STANDS.YOU CAN LEAVE CAR ON GROUND BUT TURNING STEERING WHEELS BACK AND FORTH WILL WEAR SPOT IN TIRES.TURN STEERING WHEEL TO THE LEFT WITH THE ENGINE OFF.CHECK POWER STEERING FLUID.ADD MORE FLUID IF LOW.MAKE SURE FLUID LEVEL ON COLD MARK ON DIP STICK.THE YOU CRANK CAR UP LET IDLE LITTLE HIGH FOR 15 SECONDS.THEN TURN OFF ENGINE.CHECK POWER STEERING FLUID LEVEL MAKE SURE ITS ON COLD MARK AT DIP STICK.THEN YOU START THE CAR UP WHILE IDLING TURN STEERING WHEEL IN BOTH DIRECTIONS SLOWLY TO THE STOPS DONT HOLD IN STOP TURN STEERING WHEEL LEFT AND RIGHT FOR SEVERAL TURNS.STOP ENGINE CHECK FLUID IF FLUID TAN STILL HAS AIR IN SYSTEM.LET CAR SET A LITTLE WHILE TRY THE BLEEDING PROCEDURE AGAIN.THERE IS A REASON POWER STEERING FLUID WAS LOW CHECK ALL POWER STEERING HOSES AT POWER STEERING PUMP TO THE RACK PINION ASSEMBLY.