The system is pulling air when it gets cold. very common and simple fix on the 3.0...As it gets cold fluid drops cause and the system starts pulling air which makes that obnoxious noise. Two things...fill it up to the top of the m in "MAX" instead of the line, audi recommends this. and use the fix i posted not to long ago.
You'll know this is the problem because after driving the car and hearing that noise, open the p/s reservoir and you'll see a bunch of bubbles on top of the fluid. By the way, audi says on the 3.0 you MUST fill the fluid not to the line it says to fill to but to the top of the word Max, look on the stick you'll know what I mean when you see it, yes this is normal, when it gets cold especially the 3.0 starts really sucking down this fluid and then it pulls air into the lines making that noise. By doing the fix below and toping off the fluid and then driving around, you'll bleed the air out and have a full system again!.
First pull off the 3.0 cover, there's four clips on each corner just pull straight up.

Then you'll be looking at this...

Now if you look at what you just uncovered closely...You will notice a hose with probably a stock audi clamp on the drivers side, as you can see in the pic below. Check this hose for leaks or cracks, my guess is at the end by the clamp there will be a little bit of fluid. Go to the home depot or harbor freight and get a hose clamp that fits around that hose, cut the stock audi one off without cutting the hose, open up the new clamp so you can get it around the hose, then crank it down! Fill up the system to the top of the words and drive it around to bleed out the air, problem solved.

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