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i have a 2004 audi a6 i hear a whining noise when i start the car. especially when i turn. i heard it before i got the timing belt and water pump changed but now the noise seems to be persistent.
Try putting in some fluid.mine did that and it went away.look up on google change power steering fluid step by step instructions.
A bottle of that from autozone runs i think 28$ if i remeber right.