does it sound like its in the car? (more prominent) or does it sound like its outside (quiet)? it could be maybe the CV joint(s) or the steering shaft.
has anyone taken this problem to the dealer? dont get the work done there and then, just see what they think it is and get a price from them in case you come back to have them do it.
my 2003 had a "squeaking" problem under the same circumstances. i took it to the dealer and they said they'd have to take apart the steering column to diagnose it and/or repair it. they had me take it into the garage area (which is awesome btw

) and the guy sprayed something up behind the steering wheel and had me to a few lock-to-lock turns but that didnt help. it ended up being the rubber boot where the steering shaft meets the firewall had dried out.
sorry for the long post, im just trying to help.
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Lunar Mist 2003 Camry LE 2AZ-FE; 65,400 miles
OEM Spoiler | painted engine cover | plasti-dipped emblems | painted fuse box cover | carbon HVAC controls | blacked out chrome accents | window tint 35% front 20% rear | TRD performance air filter | gen 5.5 SE grille