Maybe your lockers for the 4 wheel drive? I was having intermittent sounds on a pick up when one of my lockers were going out.

 

A few questions for you to help narrow down the possibilities.

#1 Does the noise accompany any change at all no matter how slight in the stiffness of the wheel when you turn it? either easier or harder to turn.

#2 Is there any slack in the wheel while driving straight? Ex.. driving down the highway, how much play is there moving the wheel back and forth before the vehicle starts to respond to the turn.

#3 Does your power steering fluid smell at all burnt? #3.5, is it a very dark color?

#4 Is there any change in engine RPM when the sound occurs?

#5 Does the sound come more from the driver side, passenger side, or in between? Front of the engine compartment, or rear? Listening from outside the vehicle is best here.

If you can answer these then we can get much closer to telling exactly what the problem might be. That sound clip would help a great deal as well.

 

That groan is dry balljoints, grease or replace if shot. If they don't have a fitting you can get a needle fitting for your greasegun and stick it under the rubber boot on the joint.

 

idler arm or pitman arm need greasing!!!!sounds like too me!!!