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Low power steer fluid. When it warms up fluid expands a little.
Or could be power steer pump is dead.
Or could be filter/reservoir needs changing. Change reservoir to change filter.
Check fluid level first
A noise like that is somewhat serious...It could be from low power steering fluid, low transmission fluid or even the starter remaining engaged. You need to find the source of the noise right away to avoid major damage!!!
drain all power steering fluid and replace with dextronIII/mercon transmission fluid start the vehicle and turn the wheel back and forth from lock to lock bouncing the wheel against the lock about 5 times on each turn for about 5 minutes
if this doesnt work you are probablygoing to need a new power steering pump
windstar has a pressure switch on the pressuer line to the rack and pinion, squeeze the plug and pull up to disconect it and see if it happens again. you might have a short in one of these wires or the switch ... to reach the switch it is mounted on top of the power steering rack so reach down behind the motor on the driver side or crawl under and reach up on driver side