A few things to look at: bad struts, dry ball joints (can you grease 'em?) Check tie rod ends (grease?). How are the rubber bushings? Also, check Power Steering lines and pump (plenty of fluid?). Also, get a friend to bounce the car up and down while you or somebody moves the wheel around. Might take three people to do this. One bouncer, one steerer and one looker. Sounds like a party to me.
Check to make sure that the fluid is full. With a helper and the vehicle sitting still in park, move the steering wheel fully side to side while one of you listens at the wheels to find the noise.
Check your power steering fluid
Check your power steering pump A: check the front Left wheel bearing
The most common cause for a squeaking noise when turning the steering wheel on any vehicle, including a 2001 Toyota Avalon, is the belt that runs the power steering pump. If the belt is fairly new, a small drop of any dish soap on the belt while the car is running will clear up the noise. If the belt is worn, it needs to be replaced.
Most likely problem on those vans is still the power steering pump.
If the car is running at idle speed while you are turning, the power steering pump has to push a lot of fluid with little power. If it sounds like a slight creaking, then it's normal. If it is a high-pitched squeal, then the serpentine belt may need to be tightened or replaced. Either way is not that big of a deal. If it is a grinding noise and you can feel a jerking motion as you turn the steering wheel, then you have a serious problem and need to take it into a mechanic.
A bad compressor belt can cause a whistling noise while running the air conditioner. A bad engine can also cause this noise.
It could be low fluid in the power steering pump.
it is the door alarm
Check your power steering fluid or your fan belt could be making noise.
The kids in the back.
Faulty power steering pump, low fluid level, and improper belt tension are the most common. It can be causes by damaged or restricted power steering lines, steering gearbox, steering rack and pinion, seized tie rod ends, strut mounts, ball joints, over sized tires, and so on. If you hear a whining noise while engine is running suspect fluid loss or damaged power steering system component. If noise is more of a creek or squeak over bumps or while turning the wheel (no noise while engine running and not turning wheel or moving in gear) suspect mechanical steering or suspension component.