Power Steering Pump?

I'm lost and dealer is lost so need some opinions.

After longer trips, east side of the island to west side, ~26 miles. Yes its long for us.

I get terrible noise on dry turns. To me it sounds like a power steering pump thats low on fluid. It does not make noise while moving and turning.

It also does not do it all the time and of course never does it when at the dealer.

Fluid levels are fine and nice and clear. No leaks.

 

How’s your rack and pinion? Any signs that it needs replacing?

 

Other than its not leaking I cannot tell. Its not obviously damaged or anything.

And it doesn't happen all the time which is making it harder.