The noise you are describing sounds like the power steering pump, check to see if the fluid is up and if there is any leaks at the rack. The noise may have come from the prolng sitting period, try and turn the wheels lock to lock many times with the engine running this will heat up the fluid. See if thid\s helps quiet the pump down . Note never hold the steering wheel at the lock position for more than a momment as this can shorten yhe life of the pump. Get the vehicle inspected if you are intereseted.
