Cheap Gunk M2704SPF Rack & Pinion and Power Steering Conditioner - 4 fl. oz. On Sale
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My new Mazda sedan would make a horrible moaning noise when I would turn the wheel all of the way. I added a bottle of Lubegard and after a week didn't think that it had worked. After two weeks I noticed that the noise had stopped. It's been 4 years now and the noise has not come back. If you're patient this stuff will work great.
If this stuff does not work you may have a mechanical problem.