Humming Noise when making U-turns

I have a 2004 VW Jetta 2.0L Manual transmission that is in pristine condition at 18k miles. I however notice that when I make U-turns on both right and left turn, there's a humming noise that comes on for the duration of the tight turn. It is a practically new car and I know the cv axle boots are in great condition. I checked the power steering oil and it is at the correct level. Is there any explanation for this from the good experts here? I want to know what is wrong if anything before I head to the dealer since the warranty is still good. However, I am less enthusiastic about them tinkering with something if I cannot even tell what it is myself because the car really is functioning very well and handles exceptionally well.

Please respond with any helpful advice.

 

If it only happens at full throw on the steering I don't think I would lose any sleep over it. When you crank the steering all the way to the lock it puts a little extra strain on the system,