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1995 Ford Ranger XLT front end noise

Our '95 Ranger XLT (manual 4WD) has developed a whining sort of rumble noise. Sometimes once it’s started, it whines when you are turning toward the left, and sometimes once it’s started, it does it when turning toward the right. It seems like it happens at 35 mph or higher. It never does on both sides during the same car trip. This has been going on for at least a month. Tires were checked, they are fine. ideas of what could be wrong and how to fix it?