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1996 Subaru Legacy Steering Problem

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My 1996 Subaru Legacy has a minor problem with steering. When I'm going really slow (like pulling out of a paralell parking space) and turn the wheel all the way to lock (either right or left) there is this loud squeaking noise. Sometimes when I first start the Sooby up, it makes a similar noise. What could cause this problem? The power steering fluid is full. Could it be a belt/pulley problem? Any help is greatly appreciated. (I decided to post in this forum because it seemed more active than the others)
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