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Does this every time you turn the wheel or only sometimes? Tried rotating the tires and see if they still do this? Could be a simple as a screw or similar stuck in the tire.
Otherwise, grinding noise under those conditions - could be anything from a loose or damage tie-rod end, play in steering rack, or loose suspension (strut assembly, rotted bushings). Because the noise is eliminated when the front end is unloaded (in the air) - I'd suspect the tie-rod ends or bad upper strut mounts. If those look out, start expanding the search outwards from those components.
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2002 Corolla S, 1.8L 1ZZ-FE VVT-i
2003 Matrix XRS, 1.8L 2ZZ-GE, VVTL-i (RIP)
2009 Matrix XRS, 2.4L 2AZ-FE VVT-i
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