If the noise only occurs at full lock then it is the pump clutch slipping which is normal.sounds awful but okay.
I had a similar noise in my Honda, it was the CV joints.
Hope this helps.
U have jammed steering which could be as dangerous as anything while u r driving. even if u get it fixed the issue will keep cropping up in the future. get rid of ur age old crv and get a brand new honda crv 2012. this is the best crv of all times.
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By lock, do you mean when you are turning very tight? if so then your CV joints are probably worn out.
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