PT Cruiser Horrible Noise

I own a 2006 Chrysler PT Cruiser Convertible, with about 34,000 miles. In the mornings when I start the car, it makes a really funky noise - more like a low groan than anything else. From time to time, it makes a similar noise once I’ve back the car out and turned the wheels(it makes the noise when the steering wheel is turned) to leave the driveway. Its seems to consistently happen now that it’s colder. What IS this???

Has power steering level been checked? do you notice any power steering fluid leakage,make a visual power steering rack inspection (squeeze the rubber bellows at end of the rack)

Thanks for the suggestion; I’ll ask my mechanic to check this. There aren’t any leaks, yet I wouldn’t have known what to look at.