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It is more like a squeaking noise. I only hear it when the engine is running. I can be in park and barely turn the wheel to the left or right and hear the noise. Think it could still be the power steering?
When you turn the wheel, does it groan? Do the wheels even have to move to make the sound? Ball joints make strange noises, but when you say "barely turn the wheel," I'm beeting on P/S pump. Just put your head under the hood and listen when somebody else turns the wheel for you.