I had such a noise on the old car Corolla hatchback hybrid model 2019. At 3000 km it started to squeak in the steering wheel. It's like a spring squeaks. I took it to the dealership three times and the sound was not heard when they tested it. Finally I recorded the sound with my phone. They called me and they changed the entire steering rack. I drove it for three years, this squeaking noise did not appear anymore.