Started not too long ago, there is a squeaking noise and a vibration and rubbing noise too. I've tried to listen up close but it's too hard to tell. Almost sounded like it was in the CV boot, but not sure.

Any suggestions?

I had a similar noise at full steering lock during parking manuvers. The Ford dealer replaced the rack & pinion unit under extended warranty, and it quit doing that. But I don't know if that was the real problem, or how the dealer got more money for some simple repair.