2007 Tc makes an almost "power steering pump whine" sound when the clutch is to the floor and in gear

and if the clutch is all the way to the floor, it is hard to get into gear and shift

if you lift the clutch a tiny bit up, the sound goes away, and the only way to shift is by not pushing the clutch in all the way (maybe an inch off the floor)

must be a common thing?

any help is appreciated