[Overdriven]

Idk if it's my phone, the echo of the garage or what, but it doesn't sound too healthy. I e never heard a steering pump make that kind of noise, more like the sound of rod knock or a bent valve. The pump will make a different noise when at "lock" (end of travel). It's ok to go to lock, just don't hold it there forever or try and force it to go further.

The grinding may be transmission related, since it happens at startup and while driving and around the shift points. The starter should not engage while the engine is running. If it's the starter actually engaging, it's not the starter that's at fault, it's the circuit that controls it that would be faulty. And to make the grinding sound teeth on the starter or the flexplate would have to be bad or something internally wrong like a bad bearing.