Sorry, I am the echo. Still figuring out how to post here.
I also have a 3.8 2005 Town and Country. I have the exact same problem. It started at 10 months and about 9,000 miles. Groaning in the steering when backing out of driveway and turning to go up the street. Also noticible when slow turning, especially making u-turns. Developed external leak which resolved itself. (Was told by dealer it was a little transmission leak and they tightened something to stop it.) I am no mechanic, but it seemed odd to see transmission fluid on the ground near the inside of the right front tire.
At first sound only occured when turning right, then occasionally on left turns. They finally diagnosed an internal leak in the rack and pinion, but told me parts would not be available for several weeks. The external leak returned and I became afraid to drive it for fear of getting stuck somewhere, or possible failure
Dealer finally replaced rack and pinion at 25,000 miles . . .three weeks ago. When I rescued it from the dealership, it immediately made the same noise, except only during left turns. They said I needed to drive it for 200 miles to get the air out of the system. 1,000 miles later, it was still groaning. I took it back. They couldn't diagnose, so they took it to a local alignment shop for diagnosis then brought the car back to the dealership to supposedly replace the power steering pump. That was last week. No one from the dealership returns my calls.
I figure I may have to get an attorney to help me convince them to buy it back at this point. Frustration is not a strong enough word.