I took it to another dealer to have them look at it and the mechanic heard it immediately. He said he's heard it before and that it's a bushing in the steering column. He said it's not a safety issue it's just annoying. He is going to make sure it's covered under my warranty and if so they'll fix it. So I need some kind of a bushing, a steering gear, and a new key fob. I've already had the steering shaft replaced. I hope this is the end of the problems and not the beginning.
2010 G6 GT Black 41,000 miles. Under GMPP Major Guard warranty until 112,000 miles.