It's hard to tell but it sounds a little like the power steering pump starved for fluid but it should make the sound in right and left turns if that was the case I believe. Have you checked the power steering fluid level? If that's not it, try turning everything off...radio, AC blower, headlights, etc., to see if they are somehow related. Also, you might want to try moving the steering wheel tilt to different positions to see if that makes a difference.