2001 Cherokee P/s Noises

[lgnickee]

i JUST TRADED MY WRANGLER FOR A 2001 CHEROKEE AND HAVE HAD SOME PROBLEMS WITH IT. ONE OF MY BIGGEST CONCERNS IS THE NOISE I CAN HEAR WHEN I TURN TO THE LEFT-ONLY HAPPENS WHEN ACTUALLY DRIVING THE VEHICLE, DOES NOT HAPPEN WHEN ON A LIFT OR IN PARK, IDLING-AND THE PULLING I CAN FEEL IN THE STEERING WHEEL WHEN THIS HAPPENS.
BEING A SERVICE ADVISOR, I KNOW A BIT ABOUT CARS. I WAS ASSUMING THAT THE POWER STEERING PUMP IS NOISY, BUT WHEN I HAD THE DEALERSHIP THAT I BOUGHT THE VEHICLE FROM CHECK IT, THEY SAID THIS WAS NORMAL AND A "JEEP THING". WHAT I WANT TO KNOW IS-DOES THIS SOUND NORMAL? I HAVE OWNED THREE JEEP VEHICLES NOW AND THIS IS THE ONLY ONE THAT HAS DONE THIS.
PLEASE HELP!