It sounds like there's a tooth missing from one of the gears in your servo.. Metal gears can still lose teeth especially in low profile servos as the teeth are generally a finer pitch!
If you turn the wheels gently side to side you may feel a slight notch, this would point to a stripped gear!
If you don't have the end points set correctly on the servo the steering may be reaching full lock before the servo reaches its end point meaning it will be putting a lot of unnecessary stress on the gears. If you clip something with your wheel when you have full lock on you are more likely to cause damage!
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