That whine usually means your Jeep's power steering fluid is low or the power steering pump is wearing out. As you turn the wheel, the pump works harder to push fluid through the system, and a fluid leak or aging pump makes that effort louder. The sound often gets worse on cold mornings or sharp turns.
You'll likely notice the noise most when backing out of a driveway, turning into a parking spot in Ann Arbor traffic, or making a tight U-turn. If the fluid level is low, check for a leak near the pump, hoses, or steering rack before adding more fluid, since topping off without finding the leak only delays the real fix. A pump that's wearing out from age or mileage won't get quieter with more fluid, and it can fail completely if you keep driving on it.
Hoover Street Auto Repair can listen for the noise, check your power steering fluid and pump, and let you know exactly what your Jeep needs before a small whine turns into a bigger steering repair.