Whiney power steering

For the last couple days, my power steering makes an awful “whining” noise. It’s really bad for the first 5-10 minutes of driving, but as things warm up it starts to go away, and eventually goes away almost completely. Then it returns each time I start the car cold again.

Are our power steering systems the same as the A6? A few things I’ve read from A6 owners suggest either bad pump, or maybe just needs new fluid, or possibly a bad filter in the fluid tank? Anyone else had something similar, and any recommendations?