I have a similar noise on my LC since - lubricated with spray every few years, usually creeps up up in weather change/cold weather. It is back, so sprayed some silicone lubricant inside (with straw) and it is much better. Don't have a steering angle sensor. The spray is a temporary solution, one of these days I might get around to it . . . Bought at 60k in 2003 now 290kI tried lubricant but it didn't work. Clock spring can make noise before failure.
On second thought, since it is one of the few 'defects' found on the vehicle when purchased, I will just consider it "character".
Credit to vishmuzty for tracking down the issue on a VSC vehicle!