I have a 1999 lincoln continental that makes a rubbing/grinding sound when i turn the steering wheel to the left at slow speeds.
If you have not injured the auto in an accident, then perhaps you may have a wheel bearing that may need attention.
Check your wheel bearings
Check power steering fluid first.
Wheel bearings or rotors power steering fluid would not make a grinding noise it just makes steering hard
If the belt is loose it will it's not a wheel baring it could be a ball joint