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I have that same problem and a simple way to see if it is the steering pump, which I'm sure it is, is to open the hood and have someone steer the truck left and right while still and listen to the pump. It is on the right side of the motor compartment if your looking at the windshield....at least it is on my 2002 f250 7.3L. Mine for some reason decided to BLOW right as my left side caliper hung up on the way home.....so with the truck wanting to go to the left and me with no power steering i nursed it home and sat outside and watched the smoke pour off the left front and sat ready with a fire extinguisher....was a fun night and weekend.
sorry for the rant, check the fluid level in the pump, mine blew a hose and wined really loud under the driverside, topped it off after replacing the hose and its working for now....but do it quick before the pump freezes
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