Have a look in this thread - covers a lot of it for you, with pics courtesy of @Arctic2. Do not start it before you have purged the air… have a read below; https://www.landyzone.co.uk/land-rover/p-a-s-problem.359168/#post-4857686

Assuming a F2 from your signature, you need to use the correct spec fluid - CHF202. You can easily cause damage to the power steering pump otherwise. Edit; And be sure to bleed it correctly if required - before starting it. They are very prone...

Check the rear driveshafts/CV’s…? Can you replicate it if jacked up and spinning the wheel…?

You’ve checked there is nothing stuck in the tyre…? Edit; how certain are you that it is that wheel? Noises from underneath can be misleading as to which corner there are coming from (if indeed a corner at all… prop?)