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Have you replaced the O-ring before on the steering pump? when this happens check the fluid reservoir if it's foamy . Check the level of the steering fluid too. Be sure you only use Honda PS fluid.
I would suggest that you also check the return hose for cracks. It’ll not leak as it’s suction in the hose not pressure.I posted about a whine last year, after my first yearly trip out west. This summer, I've replaced the water pump, belt tensioner and alternator (for other reasons), and the whine remained. That leaves only the power steering pump, or some sort of engine failure. I replaced both o-rings on the steering pump but it made no difference. I get a slight number of bubbles in the fluid when it's running, even after replacing the o-rings.
Now here's the weird thing. I'm back from another 5,000+ mile trip, and the whine is gone. I don't know what the deal is! I was prepared to just get a remanufactured pump from the dealer (I haven't seen many good reviews of aftermarket pumps), and now it's quiet again. I haven't looked to see if I still have a few bubbles in the pump. There is some very slight seepage of fluid around the gasket, so I'm still debating either replacing the pump, or disassembling it myself, replacing the gasket, and the bearing(s) inside.