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Check the level as blue62 says. If it is low, you need to find where the fluid is going. On my '02, the steering rack blew out a seal and it made the noises you described. In my case, it leaked the fluid out very rapidly. If it's been making the noise for a while, it may just need a seal replaced.
I replaced the rack (not a fun job) and it solved the problem. I had also bought a junkyard pump in case the pump had been damaged, but I was fortunate that it was fine. If you need the pump and the seals for the lines, let me know.
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