Noise when steering van at low speeds

During a recent long distance trip, I noticed that while pulling out of the parking lot, there is a whining sound while steering. This sound goes away after driving. But at the next halt, the sound comes on again. I am mechanically-challenged so please help!!

I had the intake maifold gasket replace right before the trip.....is it somehow related to the noise?

Thanks in advance

It must be your power steering pump. The power steering is mostly useful at lower speed because it's when you need it the most. That's why when you're going faster your not earing noise. As you go faster, it's easier to steer the vehicule so less effort from the power steering pump. Check the power steering fluid. If it's full, the pump will have to be replace. If not, fill it up and see if it's still noisy. I hope it's not because it's not cheap to replace. Hope it helped you.