Noise when turning steering wheel while the vehicle is not moving most likely comes from the LCA ball joint. Insert grease with a grease gun needle through the rubber boot and the groaning noise should go away.

Test the ball joint for play. Lift the vehicle and place a jack stand under the LCA. Lower vehicle so that it is resting on the jack stand. Use a pry-bar or any long bar and try pushing the tire up. You should be able to see the ball joint move up and down if it is worn.