Lexus is poorly .
Steering pump making all sorts of whining noises (matching the engine speed) and lots of groaning and shuddering from the steering wheel at low speed manoeuvres. Only really bad when very cold...when the car has warmed up it all seems okay, and it's less noticeable when the ambient temperature is higher.
Going to investigate power steering fluid first and hope it's just low.
I can imagine a pump is expensive to replace by itself but I cannot bring myself to look up the cost of replacing the steering rack...
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That sounds like a classic symptom of low fluid and associated air in the pump to me.
Top up if necessary (may have to do it with the engine running to help dispel air) and bleed by turning the wheels slowly from almost lock to almost lock.Put the tyres on something slippy, or just drive forward slowly while turning the wheel.