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While it's hard to go off a textual description of that sound, power steering pumps do tend to make a growling sound. You could try checking the fluid level, but you'll have to get the top engine cover off etc. And if you are going to do all that, another 15 minutes will get the front engine cover off (behind the seats). You can then use a mechanics stethoscope, or a few feet of hose held up to your ear and pointed at the various pulleys to help identify the sound.
Keep in mind, these aren't Hondas, they aren't going to idle silently.
-james
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'01 Boxster S, 51k miles
'05 Mazda 6 Grand Touring Wagon
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