2004 A6 2.7T...power steering pump???
 

The power steering pump has started making noise only when the engine is cold. After it warms up the noise which sounds like a groan stops. The fluid is full and there are no leaks. Is there anything I can do to fix it besides replacing the pump? I thought about replacing the fluid but thought I would check here first to see if anyone has had a similar problem. There is 122,000 miles on the car.

Thanks

Did you happen to fix the power steering pump noise? Mine is doing the same thing and I'm curious as to what you did to fix it.

When you checked the fluid, does it look like it has some tiny air bubbles in it? normally it should be a dark green or some other dark color. If it looks like it has air whipped into it, that means it's sucking air somewhere OR a seal is failing inside the pump and cause it to cavitate. This will make the noise you hear. If it's not leaking anywhere including the rack, it could be the pump.

I think the rack is leaking. While there's now wet spot in the ground, I did notice a large wet area under the car. I had the rack replaced a couple of years ago so i hope it's just a hose clamp or something like that. I was planning on flushing the fluid but you have a point - if it's leaking there's no sense in flushing it. Why would it do it only in cold weather though?

When things are cold, especially rubber seals, they are slightly smaller than they normally are when warmed up (say above 50F). When they warm up, any ever so slight gaps, close up.