[Metroporter]

I have the same exact problem. The noise is only noticeable on cold starts (for me). Depending on how cold it is, the noise is immediately heard upon cranking the car as a whinning noise. Once pressure is applied to the steering wheel (turning right or left), the whine turns into a rubbing/grinding noise. If the wheels are cranked all the way, it is a distinct grinding noise. Once the car warms up, all the noises go away... except after a hard braking. Immediately following a hard braking, the noise comes back for a moment as the steering wheel is turned.

I checked the wheel bearings as described above and there is no play in the wheels that I can tell.