Whenever I turn, I hear this very soft groaning sound. Its almost a crunching sound, but its not that harsh. I doent feel it in the steering wheel when I turn, and its very soft, I have to turn off the radio to hear it. Anyone got any ideas on what it might be?

It might be the power steering pump. You could probably diagnose a steering mechanism problem by putting the car on jack stands and running the wheel left and right with the engine running.

If it's not that, maybe a CV joint or bearing?