[Redavogirl]

Notice in parking lot, at low speed and going either direction.
Sound coming from cab only
Hear in wheel
Goes away when excelerate
Fluids good
Is there something to lub up?
started a couple weeks ago

 

[Highlander_1]

Make sure you open the reservoir cap and visually inspect the fluid level.
There could be a leak sucking air in or a pump going bad.

 

[C R]

Could you post a video with the sound?
A squeal could be a loose or worn belt.
A squeak could be the intermediate shaft or boots
A whine is usually the pump, though it could be air in the system. Either is usually due to low fluid level.
As HL1 indicated, take the cover off the power steering fluid reservoir and read the level on the dip stick. The bottles tend to get stained, so it may be difficult to read through the bottle.