Checked the fluid and it's fine. Only makes the groan while the car is cold (<40F).

I am assuming it's something with the power steering pump, but I want to make sure that there aren't common problems with the filter, incorrect fluid, or perhaps condensation freezing or some other random issue.

The car is new to me, so I really don't have a history on maintenance or usage.

 

Is the groan always present or it gets more intensive when you turn the wheel? What makes you think it's the power steering? Groan can be due to many things