My 97 Audi A4 has recently started grinding/whining when I turn the steering wheel. It is not losing any fluid.
I would like to change it myself if it is the pump. Is this something I can do, or is it something that needs to be taken in for? Any suggestions?

 

whining USUALLY means your rack is going out

 

i've had the rack and pump go out on me. both produced the same whining noise. best way to diagnose the problem is if the wheel gets heavy at a stop and lighter as you go faster or if you rev the car, it's the pump.

if it's the rack, you'll notice a leak on the driver's side tie rod and you should see a lot of bubbles in the reservoir

 

Verify the fluid is where it should be. If it is, get in the wheelwell and pull back the boot over the tie rod end. You may find it contains the fluid you were losing as a result of a shot rack seal or joint.