Slight "creaking" noise when moving slow and turning sharp

[Davidoo]

I have a 2017 Energi Titanium that I took delivery of on December 15th.  I have noticed an ever so slight "creaking" type of noise coming from the steering (not the steering wheel in the car) that sounds like it is coming from under the front of the car.  It has done it since day 1.  Most times I don't even hear it if the radio is on.  

 

It happens usually when I am pulling into my parking space at work or into my driveway at home.  I am going no more than 2 mph and have the wheels turned almost all the way in either direction, usually with the brakes applied.  Right when the wheel is almost turned all the way there is a creaking noise, almost like an old door in your house would make.  I am hesitant to take it to the dealer for this as most times you can't even hear it.....and I just don't like the dealer messing with my cars!  There is only about 3,500 miles on the car and it did it the first day, so I can't imagine there is really something wrong.  I know these cars make a lot of clicking and relay closing and opening noises when you first start them up, and when you put it in and out of gear, and that is not the noise I am getting.  

 

This could be normal for the vehicle, so I thought I would check with everyone to see if anyone with a 17 or even prior year has heard this noise.