I've noticed almost the same sounds on ours too - 2020 SSRX with the SeaStar hydraulic steering. I think I've traced the problem to air bubbles that collect in the power steering fluid fill line, within the helm console. The bubbles cannot be bled from the system properly.
Specifically, the design of the fiberglass console has the power steering helm pump mounted at a high spot between cupholders, but this may create a high point where an air bubble forms. When the steering is turned, the pump draws in a bit of air causing the noises.
Try watching the clear steering fluid fill hose inside the helm console, while someone else turns the wheel. See if there is there is a bubble that moves and is sucked into the pump, creating the noise. When I do this on our boat, I see the air bubble moving at the exact time the noise is heard.
Unfortunately, it's nearly impossible to bleed the air since it's a high point in the design of the fiberglass helm console. I'll be taking mine to the dealer in a few weeks to have them look at it. They said they can replace the helm pump under warranty, but I suspect the problem may remain if the air bubble bubble cannot be bled completely.
Here's a sketch showing where the air accumulates:
Not a photo of my boat, but another photo I found online of the same style helm console. See the raised part where the helm pump is mounted.
