std 3.0 s type 70K miles
rt front started groaning when backing up 2 months ago. Now same wheel groans when I turn steering wheel either way when backing or sitting still. Cannot hear any noise while driving. Any ideas as to the most likely cause?

 

You need the Jaguar additive.
It's about 12 bucks at the dealer, ask for the steering fluid additive.
It really works.