2006 Peugeot 407 Grinding noise on turn

I am hearing a grinding kind of noise when I turn the wheels. When the car is in motion there is no problem. However, initially when getting out of the car park, I can hear slight grinding and feel it on the steering. Apart from that the car drives like magic. There is no other sign which would indicate a fault?

Could this be a slight issue with the suspension, Axel or drive shaft?

Thanks