Mine sometimes makes similar noise, usually if car has not been used for long time. My steering is normally in the upper most position and if it makes noise I can stop it by lowering steering column even just a little. I don't think it's UJ, it's more like like rubber squeaking rubbing on something. I suppose it could be dry bearing if it uses plastic/nylon bush type of bearing but not if it's ball/roller bearing. I would not spray WD40 on UJ, it will just wash out grease then evaporate and leave the joint dry. If there is a problem with UJ it will only solve the problem temporarily but if there is no problem it might create it.
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Currently 8less
2011 Q7 S Line 3.0TDI, 2016 Tesla Model S 90D
8 history:
2006 A8 Sport 4.2TDI quattro SOLD,
1997 S8, reached end of life with gearbox failure
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