2000 Impala, Grinding Noise while turning

[Mortiffer]

Shortly after I got a seemly unrelated repair(they replaced the radio) on my 2000 Cheverolet Impala(130 000 miles) I started hearing a grinding noise. The first thing everybody says when they hear it(and every one that gets into this car will) that it sounds like i need more power steering fluid. I checked that fluid reserve and it was actually over the full mark so i took some out to make it right where it is suppose to be but that didn't help. The noise is worse in the morning (after a cold night) and when the engine warms up it also gets quieter. Also it is not just a noise, you can feel vibration on the steering wheel and the floor of the car. It seems to be directly linked to turning the wheels because that has the greatest impact on its intensity, if I'm going slow or at a standstill and try to turn the wheel its the worst, when I'm going straight down the highway its almost not noticeable. I had the entire power-steering system replaced 2 years ago and it has not had any problems since then. Any ideas ?

[HeMi101]

Check your CV Joints, Could be a shot CV. Look for a torn boot and slung grease.