what needs to be repaired to fix the 'groaning" when you turn the steering wheel

poewr steering pump or rack & pinion.

you have cold fluid, your pump is cold and you rack is cold. It takes a bit to warm up. just dont be "working" it to hard. How well do you feel right when you wake up? things need to warm up (wake up) sorry for the comparision. This also leads to a bad pump/rack. have the system checked and test it. you might want them to change the fluid. hope this helps, best of luck.