If you have the steering on hard lock ( left or right) the noise may be from the pressure relief valve in the pump operating. If backing the steering off a touch stops the noise ,it will be the pressure relief valve
The noise may be from loose drive belt slipping under full load of the pump on hard lock. Again back of a touch and see if the noise abates.
remember when stationary and probably with the brakes on the power steering pump works extra hard as it has to turn the tyres on hard stand as well as lift the front of the vehicle up from the castor angle of the wheel alignment
Depends on what the noise sounds like. Some noise can be normal if you are holding the steering wheel at full lock . That is the pressure from the pump pushing hydraulic fluid through the steering box. If it is usually loud at the slightest turn..could be bad steering pump , leaking hose, leaking seal at steering box, even a bad belt.
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