There's a VERY annoying high frequency rattle coming through the steering wheel when the car is idling or moving under 5mph (assuming because the RPMs are low). I know it has something to do with the steering wheel as the frequency of the rattle and volume changes as I turn the wheel. Hoping I find someone here who solved a similar issue before I end up taking the car to the dealer and paying out of pocket for a diagnosis. You can kind of hear it in the attached clip.

Attached another video with better sound of the rattle

I hear a a rattle but I don't see how it's connected with the steering wheel. I don't hear a difference when you turn the wheel..unless I'm not hearing what you're talking about?

I've noticed that you haven't received many responses to your issue, so if I may, I'd like to offer a potential suggestion as a starting point:
It could signal the onset (because the noise is very low) of an issue with the power steering pump. If I recall correctly, the pump draws oil from the engine oil reserve. If the engine oil is too low or if there is some restriction in the flow to the pump, it may start producing noise. The reason for my suspicion is that the power steering pump operates only when you turn the steering wheel. I noticed from your video that when you hold the L or R position, the noise persists, indicating that the pump is likely the source. Conversely, when you turn the steering wheel all the way to the left, the sound ceases. This somewhat contradicts the notion of a pump issue because typically, the more you turn the steering wheel, the more stress is placed on the pump, which should result in increased noise.