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It's the Power Steering pump. If it only happens when it's cold it's just a condition related to the oil thickening up. Often a very small bubble of air can get caught inside a power steering pump and it will expand and contract as the pump turns. The condition is quite common and causes no damage other than the annoying sound. If it doesn't bother you, ignore it.

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Q: What is whinning noise when caravan is cold when turning the wheel?
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