I don't know how a stop could make the noise. Its never at a full turn, and typically its there as I turn the wheel more or less, not when its held in one spot.

Pulling out of a parking spot after it has sat there for several hours in zero degree fahrenheit weather should do it. So you are initially backing up (going forward) slowly and nearly straight, then turn the wheel more, then straightening out again. That is when I first heard it and how I was able to reproduce it. Never hear it once its above 20 degrees or when going down the road at normal speeds, just slow parking maneuvers, just after starting up and still cold.