Sometimes when I turn my wheel it makes a rubbing groaning noise. Sort of like dragging some heavy dry object over a rubber mat.
Then if I try to do it again it'll go away.

This usually happens when I turn it almost all the way to one side and return it to the center.

Steering seems fine but I hate that noise. Any ideas?

How many miles on the truck, when was the p/s system totally flushed?

144k and no idea when power steering was flushed.
Just bought a couple of weeks ago.

Go to the top of this section and find my major service list, better plan on doing it all.
As for the steering I would start with a p/s flush, 4 quarts of p/s fluid and a small hand pump for the fluid and send me your number for directions.

It just got a whole engine reseal including head gaskets so most of the stuff on that list is done.

PMing you

Looks like I am having a similar issue. I am away from home, truck drove fine all day yesterday, but I arrived in my very cold destination, parked all night and this AM at 5* I started the engine and heard a rubbing sound. No matter how slightly I turn the wheel, I hear a "rubber rubbing" sound, the self leveling system seems to be running every few moments. Stopped by auto store, guy says bubbles in PS tank mean it's a pump problem. (PS fluid is amber and doesn't smell burnt). It appears to me to be turning the wheels is rubbing rubber on the tire (crawled under it) It seems to get slightly better once engine warms up. (It is possible I did not have brake fully depressed when I put it in reverse this AM- immediately pulled back into parking space and drove 1 mile tonight to check it but same though temp is 9 and will not get above 19 tomorrow) I am (currently in Blacksburg.VA) 120 mountain (I-81/I-64) miles from home (Charlottesville, VA) and not sure driving it is an option. Tires are new, not elevated, Drive shaft was replaced with TW last year and there has always been a slight vibration over 70 since.
Best course of action? Thinking a rental car and repair shop are inevitable though I have a great mechanic if I can get it back to C'ville w/out catastrophe...no major tools along this trip, but have the basics...any help is appreciated...thanks ahead!

Just a tip, never hold the steering against full lock in either direction at any time. Given time, it ruins the power steering pump and box. I think it even says that somewhere in the manual. I'm surprised really as most PAS has a pressure relief valve that should activate on full lock.