Need Help! A4 B6 3.0 Annoeying Steering Noise

[oag_sgm]

I have had this steering noise for a while, and tried many things to fix it, have not succeeded yet!

The video is here:
https://youtu.be/kSThAki-p78

Some clues and info:

1. Noise is not too loud, but is accompanied by very minor vibration can be felt through steering wheel
2. Noise only happens when actually during the turning of steering wheel continuously in fairly big angles , and only in both low speed and stationary.
3. This only happens when the car is cold and is more noisy on a cold day. This happen out of the car park every morning.
4. I have previous replaced the front left CV boot, didnt change anything, which is proven to have absolutely nothing to do with the noise
5. I have also replaced 2x lower control arm (because they were split, but have not replaced the upper control arms). the noise unchanged.
6. When first had my car, there was no such noise. Only when steering to max left and max right, I will get a high pitched steering sound (maybe from PS or differential) which i think is normal
7. After I replaced old rims with 19inch RIMs and low performance tyres for a while, i started to get this noise. I was told the inner tyre was rubbing against something, not sure if this was the cause.
8. Car is 2003 A4 B6 3.0, Steering is on the right.

Like many people, i have searched and read many posts...but i figured the root causes sometimes are surprisingly different even amoungst the same cars!

Please help me to catch the culprit.

[oag_sgm]

On my car, I prefer to never turn the steering wheel when stationary, and never to full-lock.
Bigger heavier wheels are harder to turn.
I barely hear anything.
Wonder if a hose or something is not sealing. Such as the common low pressure suction line (small, S-shaped) that connects at the pump, which wears at the clamp points. Or low fluid.

PS fluid is normal. And no the noise comes out straight away when turning steering. I did full lock in stationary just to show the noise.

[CyberPMG]

what is the size of the wheel? 19 x ?? What is the offset? Are you using any wheel spacers? What is the size of the tires mounted on the wheel?

[oag_sgm]

Rim 19 inch tyre 235/35ZR19

[oag_sgm]

No sure if wheel spacers

[CyberPMG]

How wide is the wheel? 19x?

What is the offset of the wheel? There should be a marking on the wheel on the inside "ET35" or something similar.

Tire size is the correct size. There should be no rubbing/noises with those tires on the OEM Sport/Non-Sport suspension or slightly lowered aftermarket suspension. If you're running aftermarket suspension that has it very low to the ground, then you may have rubbing issues no matter the wheel/tire.

If you go back to your original wheels (before you put on the 19" wheels), does the noise go away?