If your C/V joint is going bad it will make a nasty clicking sound and get louder the longer you leave it unattended.If this noise went away it could have been something stuck it the moving area of your wheel and just worked itself out.Keep an ear out for the noise to return,it it dosen't come back be happy.
I think is the power steering system, my friend had one just like yours and it would have the same problem, screeching noise while driving check power steering fluid
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