I have just started hearing the same type of noise. Usually from a stop, or a left hand turn, and only after I have been driving the van for a while. It seems like a brake noise to me, but I have had it at the dealership twice and they can't find any problems.
Someone suggested to me it might be a power steering issue and they had something similar. They added fluid and the noise went away. Now, my levels were only slightly low and I added a little and have not noticed the noise since, but it has only been a few days...
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