Noise in steering column

The sliding yoke at the bottom of the steering column may be dry. Ford have a similar problem with some of the Focus cars, if it is the same thing, it is a very simple job for a mechanic to lube the slides to remove the noise, have this looked at first.

Is this done from the inside or outside of the car?

Should be under the dash at the floor level. I am looking for more information, as I said Ford have a similar problem. If you lay under the dash and hold the lower steering column and get someone to rock the steering, you may feel the knock or hear the noise clearer.