Chrysler Repair Questions? Ask a Mechanic for Answers ASAP
That is most likely due to a loose power steering belt.
That is a serpentine belt and is held tight by a belt tensioner. The belt tensioner is probably bad and needs to be replaced.
Here is one listed at autozone for $40 and below is the belt routing diagram. http://www.autozone.com/external-engine/belt-tensioner/duralast-belt-tensioner/chrysler/town-country-2wd/2005/6-cylinders-l-3-8l-sfi-ohv/421356_297531_0/
It should only take a few minutes to replace.
Actually the labor book says 0.6 hours, which is 36 minutes.
Here are the instructions if you want to do this yourself.
Sorry that was just for removing the belt, but once the belt is off, just unbolt the tensioner and remove it.