Toyota Repair: Steering, factory warranty, car 2002

Question
   When I am parallel parking my car (2002 Camry) the steering wheel makes a noticeable grunting noise.  This noise only occurs when I am parallel parking (locking the steering from left to right and vice versa) not when I am driving.  I checked the power steering resevoir and it is full.  What gives?

Answer
There is a service bulletin regarding this noise, it's coming from the steering column lower dust cover where the steering shaft goes through the firewall, it involves lubricating this dust cover and the shaft, see your toyota dealer, the factory warranty is in effect for 3yrs/36,000 miles.