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Usually, if the steering wheel is stationary, meaning that the steering rack is not "asking" for assistance from the high-pressure fluid from the pump, there's little or no noise. As the steering wheel is turned and the steering gear asks the pump for assistance, the pump might whine or howl a bit.
Here's a simple test. Buy an aerosol can of brake cleaner, install the little plastic extension nozzle, open the hood with the engine off and find a safe way to spray the aerosol on the ribbed side of the belt. Make sure clothing, fingers, etc., won't get caught in the belt. Start the engine, and while you're hearing the squeal, spray the aerosol on the belt. You can try this on both sides of the belt. If the squeal stops instantly, then restarts several seconds later, the noise is being generated by belt slippage. If there's no change in noise, the problem more likely is associated with one of the belt-driven accessories.
Whenever the power-steering system is opened on this engine -- to replace the pump, hose or fluid -- it might require "bleeding" with the engine shut off.
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