Yes, you should have it looked at soon. A whining or groaning sound when you turn your Jeep's steering wheel usually indicates a power steering problem. While it's not always an emergency, ignoring it can lead to harder steering or a sudden loss of power assist while you're driving.
You don't need to pull over immediately as long as the steering feels normal, but you shouldn't put off getting it checked, since low fluid or a failing pump never gets better on its own. If the wheel ever feels stiff, heavy, or hard to turn and is accompanied by noise, treat it as a more urgent issue and have it inspected right away, especially before navigating busy Ann Arbor intersections or highway on-ramps.
Hoover Street Auto Repair can diagnose the source of the sound and ensure your Jeep's steering remains safe and reliable for everyday driving around Ann Arbor.