Car whines when it warms up. It does it regardless of being in park or brake.
What is your question?
I have had the steering fluid checked & transmission fluid also. It doesn't do it everytime I am in the car but once in awhile. Doesn't go away when you turn the steering wheel to the left or right.
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I would call is a whine/humming. It's a lower type of tone. I will have the belts checked too.