It's getting air in the system. In the bottom of the fluid reservoir there is a filter screen that can get plugged up, starving the pump and causing it to suck air.
Stop running the wheels lock-to-lock - let the system settle first, and let the air dissipate. There's also a shaft seal on the power steering pump that may need replacing - that can pull air.
Lastly, the pressure relief valve may be stuck, causing the pressure to increase to the point of cavitation. The relief valve is accessed through the front of the pump. Remove the large bolt and the pressure spring will be easily pulled out and a magnet should easily pull the pressure plunger out. If the pressure plunger is seized it is most likely causing the foaming.
Pull the service manual at
www.infinitiservicemanual.com for some help with that.
Welcome aboard, and let us know what you find!