The noise we're talking about is nothing like a squeak. "Whoop whoop whoop" is the best description for it. I heard it at 30mph just a few minutes ago while coming to a stop. I thought it was just under 10mph but it has been quite a while since I have driven with the radio quiet enough to hear it.
A squeak while turning could be a wheel bearing since it has sideways pressure on it.

 

Oh, don't tell me wheel bearings....NO!!!

 

Sorry to bring up an old thread but did anyone ever find the cause of the whoop whoop sound, I have the same issue, thanks for any help

 

Did you ever figure out where this noise came from and the solution to it? I’m experiencing the same damn thing and need help of finding it...

 

It's been a while since I've heard it but I think it went away when I changed the track bar. The noise sounded like firm rubber rubbing on metal so it could have been that or the motor mount that I changed. I can't remember when I changed one of my motor mounts but I do remember that the old one looked pretty bad.
Get under the front of the truck and have someone else start it and crank the steering wheel side to side while you're watching the ends of the track bar to see if it has any play in it.