I think what you are hearing is the steering bump stops (might not be the correct name). My 89 does this quite often and has ever since I bought it. I have seen various threads on this, with no real fix. My understanding is that they have a plastic cover on them and when it breaks, you then get the creaking. Some let it go, some put grease on the bump stop and reapply when necessary.
89 P/U: 295K Bought 06-92 Traded in 6-07
01 4Runner SR5: 101K Bought 02-06
Deckplate mod, True Flow Air Filter, 55/100W Headlight bulbs, Thule rack, Fog Light mod
My other toy:
Trebuchet with a 24' arm and app 3000lbs of pull from garage door springs. Will throw a 8lb pumpkin 1090'
05 Saab 9-2x Aero "It's a Saabaru"