If a "honk" noise occurs during low-speed parking lot maneuvers, replace the power steering lines and/or power steering rack and perform revised procedures to bleed the system.
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I have a little bit of this noise. I will use the SEA FOAM power steering flush. Follow the directions EXACTLY as on the can and your problem should go away. I used it on my wife's 98 Nissan about a year ago which was growling rather loudly and have not had any problems since then. Basically the pump growls and has to work harder to send fluid through rack valves and such which get stuck with buildup.