I noticed the same noise on my car too, and when I got under there to add in the steering limiters, I noticed that the shaft on one side under the boot was bone dry. My guess is, the shaft is rubbing metal on metal since there isn't any grease on the bearings/shaft/bushings or whatever their proper name is. I would get under your car and remove the rubber boot on the steering shafts (going out to the tires) and see if they are greased or not....
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// 1998 GT-Steeda Conversion \\ -- Sold
// Now own 2001 F-150 SuperCrew 5.4L \\
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