Does any one have a problem when its cold out and you start driving your car in the morning and the first few minutes its makes a noise like the power steering pump is whining or making a groaning noise when you turn . It always goes away within a couple min though.

 

You need to top up the power steering fluid before you fry your power steering pump. Check the level to see if it's low. If it is, go to your local Audi dealer and get a bottle of power steering fluid and top it up.

 

110% its Power steering fluid
Just had that happen to me (search posts)
Once topped up, problem solved

 

yes, power steering fluid is low. Top it up and keep an eye on it.
If it keeps running low, then check for leaks.
If it's leaking quite noticeably, like have to top up every few days, then time to check your steering rack.