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
poss tire hitting inner fender ck inner fender for rub marks
sounds like you might have a bad wheel bearing.
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.