I am currently having some stiff steering and noise at i turn the car.

Have your power steering system checked. Mine clicks when I put it in sport mode any time I turn the wheel or go over a bump and a little when it is in convenience mode. I just took my car to the shop today and after already replacing the control arms, radius rod, and the tie rods, a pressurized hose broke and leaked fluid everywhere and the driver side of my car sagged. I am suspecting it was an issue with the power steering system all along. My 06 S600 has 113,000 miles on it and the power steering pump has been replaced twice, and based on the history, I will be replacing another one at 125k-145k miles.