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check the idler pulley and tensioner I have seen this before coming from a idler pulley bearing on a Honda I sprayed some pb blaster/wd 40 on the center of the pulley and it stopped only for like 30 seconds but that's how I figured out which pulley was causing the noise
Sounds like you either low on power steering fluid or you need a new power steering belt. Otherwise, your power steering pump might be bad. Are you in the US? You can probably take it to an AutoZone or an Advance Auto and one of their guys would be able to give you a confirming diagnosis. Check the first two first.
I would suggest pressure testing the power steering pump. It has been my experience the p/s pump will cause this problem. Also check to see if there is a filter in the reservoir, and it is not stopped up.
If it gets worse when turning the wheel at a stop, then it's the power steering pump. Could be the power steering fluid also. Check your belts for wear or damage. The idle pulley will make a constant noise, sometimes whining sometime screeching. To check idler pulley it is best to remove belts.
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