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have you checked the power steering fluid level ? may just need topping up other wise will need to jack up the front end take off front wheels , get some one to turn wheel from left to right and back and look and listen to see if you can locate the area of noise , make sure the vehicle is supported on stands and not just the jack , it could also be coming from the power steering pump so have a listen there as well , so long as there's no leaks and the steering operates ok it may just be one of those noises a 14 year old car will pick up over time
Have all tires pressures checked and adjusted as necessary first. Other things to check would be wheel alignment, and check for brake possibly holding, or dragging as well.
depending on how low it was, you may have air in the system and it may need bleeding. start it up and turn the wheel all the way to the right and hold a couple of seconds then turn all the way to the left and hold 2 seconds. do this several times and see if that helps.
this system can be tested for codes, I would suggest you have the dealer do this test, all the parts are very expensive so guessing is not a good idea. most probale cause is a wheel motion sensor on the steering column.
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