My car has a low whine at low rpms that doesn't change in pitch with the steering, but with the idle. I don't notice the noise much when I start it up in the morning, just when I start to move it.
On really cold mornings however, I do get a squeal when I make that first turn. Power steering pump or bad rack? Maybe something else? I know someone had supposedly worked on it a year ago, he was a mechanic. But it seemed like his work was sloppy.