I noticed a humming noise coming from the steering wheel while turning.

Drove a loaner rx 350 2012 with 12k miles and the noise was also there.

Taking the car in next month for it's 20k service and see if there is a fix for this.

 

It is from the electric steering mechanism. Does this only happen when you turn the steering wheel very fast, like when parking? Normal slow turning while driving wont make the sound right?

I also have to contend to creaking when turning I very slowly

 

My rx makes the same noises, doesn't matter who fast or slow I turn it.

 

I had the same problem with my 2010, solution "lubing the boot". Look in the area of the brake pedal, you'll see it., takes dealer about 15 minutes to complete the job. Found the answer to the problem on this site. Dealer wasn't aware of the easy solution to the problem.

 

X2, this is the solution. I did this for my brother on his 2010, and on my 2000.