Check the level of power steering fluid, under the hood, it's labeled, it has a low/full line on the side. If it's low, that could be the easiest solution. The noise is usually caused by air in the lines. The noise will probably be more prominent if it is cold and when it warms up it should go away or be less noticeable. Unless you are losing power steering fluid or the steering becomes harder to control, it is not a problem to worry about. It's a very common problem with these vans. Most people just don't fix it unless the steering becomes difficult or the fluid leaks quite a bit. If that is the case you should take it to your mechanic because you might be losing fluid in the rack and that will need to be professionally repaired.
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