Well, I still have this noise, kind of a low moan. I have noticed it when pulling straight out of a parking spot lately, without turning the wheels. I'm trying to remember to set the parking brake, but just not in the habit with an automatic equipped car.
Makes me a little nervous about the long trip we are about to take. I have had it checked twice by a local/independant mechanic, he can't find any thing to cause it and keeps saying it must be the power steering. I'd love to believe that but I'm paranoid about these sorts of things. I've never had a power steering noise like this, and I've had lots of cars in me 25+ years of driving.