'02 Camry XLE power steering maybe?
 

New on here, there is a indescribable sound when I turn the wheel. It almost sounds like it needs grease but I am not sure. Could it be the power steering pump?

where does the sound coming???Is it in the engine???

A screech like a slipping belt, a growl, popping, a clunk?

How does the power steering feel, smooth, binding, etc.

Did you check the PS fluid level?

Have someone turn the wheel while you listen. The power steering pump is located passengers side of engine near the lower area of the firewall.

Also listen at the strut towers (the location the upper part of the strut bolts to the chassis and where the steering wheel shaft exits the firewall.