So I've been having this noise since I purchased my 200 a couple years ago and it's been driving me mad. I got motivated and I think I have a solution. We'll see if this works long term but for now I'll at least explain what I did to mine.
To start, I only ever hear this noise for the first few turns after starting the car thats been sitting for a day. It is louder and lasts longer the colder the car is before startup (so in cold weather it might last for more than a few turns).
I pulled back that outer boot on the JTEKT branded part and stuck my endoscope camera down to take a look. Inside and below is a second rubber boot that is pointed upwards, meaning the part that contacts the steering shaft is raised above the housing portion. With something like chopsticks it's possible to pull that inner boot down. The tricky part here is that you need to get lubrication onto the steering shaft itself, and not the boot. What I was able to do is, while the inner boot was pulled down, I fit a toothbrush with silicone grease down into the area and then brushed the steering shaft itself. When I cold-started the car afterwards there was no trace of steering noise like before.
Admittedly, this is pretty difficult to do without a camera to show what you're doing. But this also explains why spraying lubricant in hasn't been a long term solution. With the spray it's just not likely to actually contact the steering shaft itself so there not a lot of lubricant in play.
Hopefully this helps someone. If this turns out to be a long term solution I'll take some pics of what I did so that hopefully it helps out more.