Groaning question

[motogo1]

Lets see if anybody has had this happen. Occasionaly on my 200, with 150k
miles on it, I hear a groaning sound while turning the steering wheel. More
recently and consistently, after driving the car about 2 hours,  I start
hearing this groaning in the steering and also the brake pedal engages
(starts braking) higher in it's stroke, like almost near the top. Still
brakes okay. Any advice? Maybe hydraulic pump problem?

Gary Martin
94 UrS4
91 200 TQA