Noise sounds normal to me
My truck has growled when first started when real cold out since it was new. Growls when the steering wheel moved side to side and when the brakes are applied. Goes away usually with in 1-2 minutes of driving. Only does it when it is pretty cold (like 20deg and below). Its normal (as long as it goes away farely quickly after driving and/or warming up). Only solution that is out there is switching to synthetic PS fluid.
How cold is a cold snap in Texas in January BTW?
As for the fluid on the floor, no guess there. Is there anything that is wet under the dash/knee panel that could give a clue? are all the firewall plugs/grommets in place? Maybe condesation from heating system in the ducts? All spit balling on these as I have never had this and do not know or think that there is any fluid that runs under the dash area to even leak. Sure U didnt step in some water and it is just residual from your shoes/boots?
Hope this helps,
J-