That just sounds like air in the system. Lift tires off ground, start engine and turn wheel from side to side 20 times (full turns from far left to far right), then turn off and remove cap. You will prob see some foam and bubbles. Wait about 5 mins, then put top back on and repeat. Do this until no foam or bubbles, and that will prob solve the issue. You might have to add some fluid too, so have some on hand when doing this procedure.
Mine sounded exactly like that after rebuilding the steering gear box. Once I got all the air out,those Sounds cleared up. There are some procedures to check out the entire steering system in the TM should the above steps not work.