Noise when turning the steering wheel

If you can turn left or right smoothly, then it is not your power steering, but if there is loud sound squealing sound, then it is the rods. I think that it is your tie rods. I had similar issue with my Mazda Tribute 2002 LX V6. Metal fatigue, deterioration along with dirt, metal residual builds up on the ball of the tie rod or end piece, and temperature affects the sound due to the metal tie rod's expansion and contraction. On cold days, it will not emit sound, but during hotter days or long trips.

Here is a way to tell by deductive reasoning. Park your car on a level ground, and apply your parking brake to immobilized the car, you can either get someone to help you or you can do it yourself. Use a jack stand to hold up the driver side for safety, or place a brick behind the rear driver side tire, and jack up the driver's side tire (follow your car's manual, if you don't know how to do it) like you are changing the tire. Take off the driver's front wheel, and set it aside out of the way. If you are doing it alone, lower the driver's side window so you can turn the front axle, and listen to the noise, and then touch each assembly piece and sense the vibration. Touch the tie rod, and see if you can sense the vibration. You should feel it in only one location. It is just that simple.