Do the following in this order, progress only if the step doesn't fix the problem:
1. Check power steering fluid level, top up if low; remove if overfull
2. Check all power steering hoses for any possible pinching when motor rocks/vibrates/moves (due to being in reverse)
3. Change power steering fluid
4. Change power steering pump
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XC90 R-Design MY2009, Black Sapphire Metallic. HP-Sound, RSE, Nav, Tel, ParkingCam, BLIS, ParkingHeater, RestHeat, Removable Towbar, Summer: CRATUS 20x8 on Pirelli Scorpion Zeros 255/45, Winter: NEPTUNE 17x7 on Continental WinterContact 4x4 235/65.
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