Sorry to take so long updating this, but I think this site was down for a while b/c I couldn't get onto it. Anyway, I took it to the dealer and had them take a look at an array of problems I've been having with my A4 3.0, and they said that (and I don't trust this),
"The power stearing pump is faulty and needs to be replaced. And since it was faulty, some pieces of metal from it have made their way into the rack and pinion, so that needs to be replaced too."
I'm at a jeep dealer for my jeep repairs now, but I will try to scan the estimate when I get home. Total repair for both of those was about $2,500, the power stearing pump being about $900 of that, including labor.
I looked for the part online and found it for about $250 if I wanted to replace it myself, but I honestly don't think that's the problem here since the power stearing IS STILL ACTUALLY WORKING. It's just "whiney."
You can laugh when you see my rap sheet from this estimate and all the little things I wanted done. The total repair estimate for my list of requests was about $5,300, including $100 to replace the passenger side power window BUTTON (the black was flaking off).