The power steering on my sonata is giving me fits.
A) I lose power when pulling into a parking spot, etc.
(IMG:style_emoticons/default/cool.gif) The power steering pump is making a loud tapping noise
c) There is a "whining noise" whenever the steering wheel is hot pointed straight.
The car is a 2002 4 cylinder, manual transmission.

What I have done:
Replaced pump (4 times) each one makes tapping noise
Replaced high pressure switch
Replaced high pressure hose
Replaced steering rack
Replaced low pressure (return) hose
Bled system by turning wheel lock to lock with car on lift, first with engine off, then with car on.
New Power steering fluid
New belt

Any body ever have any experience with this? Have any ideas?

Our 2000 Sonata 2.4 auto had the same problem. If you trace back the power steering hose to the rack it goes to the firewall and then down. Ours where it transitions from rubber to metal there is a metal bracket and it rusted and the hose had a very slight crack enough to cause the power steering to behave in a similar fashion as yours.
One thing is for sure the part is just under $300.00 and our mechanic charged $75.00 labor to install included power steering fluid.
Hopefully this tidbit of info. will help your problem.