Power steering makes a groaning noise...

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My power steering has been making a groaning noise for a long time now and I've had the dealer check it out a few times before. First time they said the fluid was low and topped it off. It didn't seem to get much better so the next time I told them about it again and they found that one of the power steering hoses was leaking so they replaced the hose and topped off the fluid. I think it got a little better after that but I felt the groaning noise was still louder than normal. Next time I asked them to check it again and said it was fine but I still don't think it is.

It makes noise at even the slightest turn on the steering wheel. It sounds to me like the motor is working a lot harder than it should. For example, it used to only make noise when I turned the wheel to full lock but now it makes that same noise with just the smallest amount of pressure on the wheel.

I don't have another X5 to compare it to, but I'm pretty sure it didn't make this noise when the car was newer. I am still under the extended warranty but I know the dealer is gonna tell me it's normal. My question is, is this normal or not? If it's not normal, I'm gonna try a different dealer and hope they get to the bottom of it. Thanks.