Finally had the grinding/cranking noise from the steering wheel on my 2011 Camry LE figured out and fixed by my local dealership

. What they initially ruled out as "harmless plastic rubbing" noise turned out to be far more serious than that. After multiple inspections they had to replace the spiral cable and the spiral cable sub assembly in order to fix the problem.
They kept my car overnight. Even though they are denying, I strongly believe they changed the whole steering wheel assembly. The plastic cover on the steering wheel was slightly discolored due to sunlight exposure when I dropped the car, but when I picked up the car, the plastic looked brand new with no discoloration whatsoever.
The part numbers they replaced are
893991 SPIRAL CABLE
1 84306-06150 SPIRAL CABLE SUB ASSEMBLY.