Why does my car make a squeaky noise when i turn the wheel all the way to the left or right?

It only happens when the temperature falls below 32 degrees Fahrenheit. Sounds like the belts are slipping pretty bad when it squeaks. It also occurs when I try to turn the wheel in either direction when I'm in park mode. The wheel inside the car makes a humming noise when I turn left or right as well. Now today it was 60 degrees Fahrenheit and there was no squeak or humming noise at all. Car is an 02 Lexus es300 100k miles. What do you think I can do? Will adding some kind of lubricant help? Appreciate your help folks.