It sounds as though your fluid is burnt
I would like to tell you,if you flushed it with new fluid,you would be good to go,but burnt fluid is the result of some kind of damage, that has to be corrected.
The pump my have gone bad,but what concerns me, is that the black fluid,will most certainly take out the steering rack.
When the fluid is burnt,you lost the ability to remove heat. ( I hope you do your trans fluid every 30,000 miles,I used to own a trans repair shop,as well as P/S Fluid)
The growling ,is either a bad pump,a pump under pressure,because the rack is shot and stiff,or now both.
Tip--Install a magnetic inline power steering filter,on the return line, after cooler and before pump,after you replace parts and absolutely have to flush out the burnt fluid and debris you now got.
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