Trying to ID a noise on 3rd gen '18 DCSB 3.5

I just got back from a long overland trip to Canyonlands, everything ran great but I gained a noise in the engine compartment. It sounds like a vibration/shudder on the driver's side and changes/get's worse/disappears when I am steering. It seems like it's more noticeable when I'm at low speeds, in parking lots etc... My first thoughts were the steering pump, but when I got an alignment a month ago the guy said my rack was going out. Apparently it's not leaking yet but he could tell it had a problem? So do you think my shudder is the rack, the pump, or something else?

 

OP- post a video of the sound if you can, we can only assist with troubleshooting if we can see/hear the issue.