Are you sure the rack and pinion isnt leaking?
Is the fluid in the resovoir a little low, when it starts to whine.
97 avalons and camrys are know for the racks leaking fluid. If there is no visual fluid leak, poke a small pin hole in the boots or move them back a little to see if the boots are filling with fluid.
whinig noise is usually caused by aeration (air) getting into the pump, like when the fluid gets low.
Its also possible the resovoir where you pour the fluid is becoming clogged.
The rack might also be wearing out and your hearing the whine on turns because the pump is straining due to a worn rack.
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