Ford Repair Questions? Ask a Mechanic for Answers ASAP
Hi, welcome to Just Answer. I'm Ron and I will be helping you today.
It's good that you checked all the fluid levels, but it appears that the mechanisms inside the rack or the pump itself is starting to fail.
If it's not that bad, you might want to try some additives that help reduce or get rid of that sound due to very specialized lubrication qualities the have. If it doesn't work, you need to check the pump first.