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My steering wheel just started making the "GRONK" sound when it begins moving into place after starting the car. I think finding this noise and fixing it could be real messy.
On the UK board I check this has just been reported as a known fault. The problem is the steering wheel shroud needs replacing with a new part, from Germany apparently.
Mine has been doing it for ages. It doesn't really bother me enough to take it in to the dealer. It certainly sounds like the shroud is rubbing on the instrument panel.