Sounds like power steering whine, have you added any power steering stopleak fluid? The system can be a pain to flush and my go-to method for years has been to buy two quarts of the recommended fluid and a sacrificial turkey baster. Use the baster to drain the fluid reservoir, and refill, go for a drive, come back, rinse/repeat over the course of several days until you have fluid exchanged 2 quarts.

If it's the stock power steering fluid then chances are there are other worn components in the system and it's "just normal older car engine noise" as you said.

Also possible it's belt whine from extremely old accessory drive belts.

 

Sounds like a power steering needing a flush!

 

all what they said ^^ and or the pump is going out....

 

Thanks guys! I’ll try the power steering troubleshooting first!