’09 Sienna (2nd owner, 245,000 miles)... steering is smooth, but sounds grandma's creaky porch screen door, but slightly lower tone/pitch. Changed the fluid a couple of years ago... need I repeat? Change to synthetic fluid? Thoughts?
Check to see whether the noise is coming from the steering column or from under the hood.
@chucktobias ... It's very audible inside, so I'd say column.
If that's the case it could be that moving parts are rubbing against all the plastic crap around the column.
@chucktobias ... well, it definitely sounds deeper than plastic... more of a groaning... during and slightly after completing a turn.
Part of the problem is that noises can telegraph all over a car. It's possible that the noise you're hearing is from the steering rack and the column is conducting the sound. You'd hear the sound under the hood or under the car if that were the case. At that mileage almost anything could be worn out.