When i got air into one of my power steering rack systems (maybe my 02 wrx) I had to go from full lock to full lock a few times with the car running in order for the system to "burp" itself. once i did that, the steering got a lot easier .
But i don't seem to recall having any noises when i had that issue. soo I think your description sounds like something else, but try going full lock to full lock a few times. my problem wasn't affected by how warmed up the car was ...
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