when I just turn the stering wheel there is no noise
when I make a right hand turn I hear a grinding noise, on 2003 Hyundai Elantra
you could also have a rusted join, remove the wheel and check if there is rust behind it, salt can do that and you might need to just clean that up.
poss tire hitting inner fender ck inner fender for rub marks
sounds like you might have a bad wheel bearing.