D3 owners suffer the same problem. at 55k service the power steering level should be checked according to Audi and topped up. It is normal for it to use a bit over the years. Mine was sitting right on minimum and did whine slightly.
You need to completely remove the entire right hand airbox (looking at the car from the front of the engine) and the bottle is under the headlight. Top up, rotate left and right fully a few times to bleed it, cap it.
Jobs a fish.
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