Eyes,
If it were my rig, I would drain and change the power steering fluid to see if the situation changes.
If not - I would take the rig in for servicing. Possibly a new pump is going to be needed.
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A few links on cause and effect.
https://www.google.com/search?q=sque...hrome&ie=UTF-8
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p.s.
Any time that I had a noise from a power steering system, it was either because the fluid was low - caused by a leak somewhere, or because the pump was ready to fail.
In either case - the noise is a warning of an issue with the system. Find and fix the defect.
p.p.s.
A video on Verado power steering:
https://www.youtube.com/watch?v=SKa9ppiGWu4
p.p.p.s.
Trouble shooting power steering issue - (listen carefully) - you may have to play the video a few times to understand the speaker.
https://www.youtube.com/watch?v=SSYWwljew5I
Best wishes