2000 Toyota Avalon

Vehicle has approximately 100K and every time I turn the wheel there is a moaning sound from the steering column. Happens right or left, moving or stopped. My wife says that it is louder outside of the vehicle. This was fixed once before by teh dealer when it was still under warranty. What is it? Does it need to be fixed? How can I fix it? Thanks

What did the dealer fix or replace?

I’m going to suggest a worn power steering pump.

Power steering fluid up to the full mark?