I had the TSB modifications performed but unfortunately the vibration/rub sound is still with me. When I first picked up my car from the service, it was horrible. They obviously did not test drive to verify they fixed the problem. It was so bad, the steering would stall in the middle of the turn. I almost hit the curb the first time I turned left. Obviously they had not purged the system to get the air out before turning it over to me. That's a dealer problem that I will deal with later.
After a few days of driving the air escaped and now I'm back to the original sound/feel that I had reported to them to begin with. Could there be a secondary cause of this noise that has not yet been determined? The vibration from my Journey feels more mechanical than just cavitation in the power steering pump. At first I thought it was the stability control system pulsing the left brake rotor, but I turned that off and the vibration remained.
UPDATE: THE NOISE HAS GONE AWAY COMPLETELY. I SUSPECT THERE WAS SOME AIR REMAINING IN THE SYSTEM THAT DIDN'T ESCAPE THE FIRST TIME, BUT AFTER 8 DAYS IT DISAPPEARED! HOORAY, AND THANKS MJM48!