Dull grinding noise when I turn? on 1996 Dodge Avenger

I thought it might have been my power steering. I added fluid to it and it helped with the turning because it wasn't even on the stick when I checked it, but it still makes this noise. And if I haven't driven it for a couple hours, sometimes it feels like my car is jumping, but someone told me it was probably bumps in the road. But it doesn't really feel like I'm hitting bumps.

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