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I have a 2003 A4 with 31000 miles. I am hearing a noise (groan) from the power steering at slow speed or when the car is cold. I took it to the dealership and they just topped off the fluid off. The noise went away for a few days but now it is back. Have anyone faced this problem before?

Sajjad
 

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you may need more fluid from the dealer

I had the same problem with mine and found my fluid drained away as a pipe came loose.
 

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I had this problem on a 2002 A4 There was a leak in the power steering it wasn't at the pump. It was a warrantee issue. They couldn't find it at first and just topped off the resevoir just like they did to your car.
 
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