I think I might have solved, or at least diagnosed, the steering noise problem I was experiencing. The location of the sound was coming from the front right wheel area while turning. It was most prevalent while turning tight left, but could occur while turning right, and sometimes even straight. The problem appears to be a small disk rotor shield at the bottom of the brake rotor, inner side. This shield is extremely close to the rotor and is experiencing some rust. The shield apparently was contacting the rotor, especially during turns, producing the sharp squeak/squeeling noises.
I'm not sure if it is rust alone causing the contact or if the shield is closer to the rotor than it should be. A matchbook cover was too thick to place between the shield and the rotor when I first found the problem. I used some thin cardboard and worked it back and forth to remove the rust from the inner side of the shield so it wouldn't contact the rotor. Hopefully sliding that cardboard back and forth didn't hurt the disk any, although I certainly don't think it would have.
I reinstalled the F.R. wheel, took it for a test drive, and no more squeaking noise!
I would like to know how much space should be between the shield and the rotor. I couldn't find any details in the factory service manual. When I have time I will remove the front right tire so I can compare the amount of space between the shield and rotor there. It maybe possible to check this without removing the tire.
Unfortunate my fix will probably only be temporary as the rust problem will continue. Perhaps it needs to be replaced with a new painted shield part for a permanant fix.
On the other hand, there is another noise, (much quieter) that is still there. It sounds almost like crickets that increase frequency as the car speed increases and is really only noticeable with the driver window down while I drive by something (like a wall) that reflects the sound back to me. It's not particularly loud, so I'm not particularly worried. Perhaps this is caused by a similar problem on the left side that is not as severe yet as on the right.
Thanks to the earlier posts that pointed me in this direction. I would appreciate any comments or information that anybody might have on either problem. If your car squeaks while turning, perhaps you have the same cause as I do.