Groaning when turning with cold engine

New member here. My 2001 Tacoma has started making a honking/groaning noise when making right turns first thing in the morning. It seems to only do it when making a turn in motion (rather than from a stop) and once the engine warms up, it stops entirely. The fluid levels are all good. Any thoughts?

 

Power steering pump may be getting tired. Mine does the same thing.

 

Tired or low on fluid.
pop that cap and check out the fluid level.