Could be the ISC.

Does it only happen with the power steering or when you put it in gear as well.

Could be the pressure sensor on the power steering line.

Happens in fear or park. But does not happen once the car is moving.

I did dissconnect the battery while I was working on it and turned the wheels while it was dissconnected. But I don't think that would have caused it.

Apart from that it was fine until I changed the manifold gasket haha

Correction I does not happen in park but does in drive. I removed the power steering cap and went full lock both sides and it is a little better. Might just be air in the system somewhere.

As long as the engine lasts me a little longer I'm happy. Unless I ever need to replace that gasket again haha