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as far as the humming noise and the grinding noise it sounds like your Power Steering pump is either out of fluid or gone bad completely. as for the muffler? ?MAYBE? the strain from the bad power steering pump is overworking the engine causing it to make noise? answer definetly a bad steering pump as for muffler, the sound can be transfred and magnified on a car, replace steering pump before bothering about the muffler sound may be gone

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Q: What is wrong with your car if it makes a humming noise and makes a grinding noise when you turn the wheel when you are not driving and a loud sound comes from the muffler?
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