When turning right or left, there's a noise from the steering column and a vibration felt near my feet.

check your tyres sounds like buldging in the rubber replace immediately

Automatic or manual trans? Manual trans could be throwout bearing. Other moving parts at idle that have bearings - alternator, a/c compressor, water pump. Auto parts store or harbor freight sells stethoscope to listen to stuff like that. Use it to determine where sound comes from. Careful when using near moving parts.

It sounds like you're in need of a pump and probably a new hydraulic piston for your rack.

this might help:
Here is the Technical Service Bulletin that maybe of help, worth looking into but can't guarantee that it would fix your problem Steering - Steering Column Clunking When Turning TECHNICAL Bulletin No.: 01-02-32-001P Date: November 25, 2009 Subject: Clunk Felt/Noise Heard From Steering Column, Steering Gear and/or Front Of Vehicle During Turning Maneuver and/or Steering Wheel Rotation (Replace Intermediate Shaft As Directed) Models: 2001-2004 Buick Regal 2005-2008 Buick Allure (Canada Only), LaCrosse 2000-2008 Chevrolet Impala 2000-2007 Chevrolet Monte Carlo 1998-2002 Oldsmobile Intrigue 2004-2007 Pontiac Grand Prix Supercede: This bulletin is being revised to add the 2008 Buick LaCrosse/Allure. Please discard Corporate Bulletin Number 01-02-32-001O (Section 02 - Steering). Condition Some customers may comment on a clunk type noise coming from the front of the vehicle while driving during a turning maneuver.
1. Locate a large area (parking lot) where the vehicle can be turned in a tight circle. 2. Turn the steering wheel to the right and/or left all the way to the steering lock, then off the steering lock a 1/4 turn. 3. Drive the vehicle approximately 5 km/h (3 mph) in a circle, preferably over rough pavement or seams on the road surface. 4. Drive the vehicle straight ahead at idle speed while applying and releasing the brake pedal. Listen/feel the steering wheel for the clunk/noise condition. 5. If a clunk is felt in the steering wheel, the MOST likely cause is the I-shaft - not the steering gear. Continue with the correction. Correction DO THIS - Replace the intermediate shaft DON'T DO THIS - DO NOT lube the intermediate shaft Replace the existing intermediate shaft

bad cylinder, low fluid in your rack and pinion

make sure the steering column universal joint is tight

Intermediate shaft is the most likely cause for this and your right there have been issues.

That sounds like a left front wheel bearing gone bad My friend.. turning right transfers weight to the left side and it probably has a roar similar to a turbo fan jet.. Try it and lemmie know.. thank you

hello have u rotated the tires front to rear then drive and see if u still have the noise and vibration if drive yes while driving slowely turn the steering wheel left to right just a small amount if the noise changes its probably a front wheel bearing if that doesn.t help drive the truck till you get the vibration then let up on the gas pedal does the noise go away if so you might have a bad u_joint but do the tires first how many miles???????

Get a friend to turn wheel back and forth in the garage, get on the ground and use your hands to feel where the noise is coming from. Metal gives off a significant amount of vibrations with noise. Should be easy to tell where it's coming from. Could be your rack and pinion, however I would be much more willing to consider ball joints. Hard to tell without getting "down and dirty" on the floor under the vehicle feeling for the noise.

Could be your steering gearbox, tierod end, rack and pinion piston, low power steering fluid, bad serp belt, ball joints, front struts/mounting hardware.

Also test steering with the entire vehicle on the floor and with the front end off the ground lifted by a few floor jacks lifting on the frame of the vehicle.

Ball joints especially on Ford vehicles tend to squeak after a while (mostly since they are the sealed type) even if they pass a safety inspection.