Steering wheel noise when turning left

Dandy video. We don't have that model in the U.S, but here's a drawing for the Elantra.

Chrysler had the same problem in the '90s on their Neon's. The hardest part of the repair was removing the rubber dust cover. The entre repair only took a few minutes. I'll describe that, but it should be similar for your car.

The steering shaft is sticking to the rubber seal causing the rubbing noise you're hearing. Chrysler wanted us to remove some screws so that seal assembly could be lifted up, then we were supposed to wash the old grease off and put on new grease. We found most of that wasn't necessary. I used a cotter pin pick, (just a large pick with a 90-degree bend on the end), to grab the lip of the rubber seal and pull it up just enough to make room to squirt the new grease in. The grease I used was Chrysler's Spray White Lube. It's in a spray can and has a stem that can be poked into the opening where the seal is pulled open with the pick. You can find a similar grease at any car dealership with their name on it, or at any auto parts store or hardware store. This stuff sprays on very runny. The juice soaks into tight places taking the grease with it, then the liquid evaporates leaving the grease behind. It works really well for squeaky door hinges too.

They don't show a dust boot on this drawing. My red arrow is pointing to the seal that needs the grease. You'll see it under the dash on the firewall. As an alternative, you can spray some Silicone Spray Lube on the seal. That will work its way in without bothering with pulling the lip of the seal back. This stuff goes on like water. It leaves a film of "slippery" behind when it evaporates. The disadvantage is this doesn't last as long as regular grease. You may have to reapply it a few times per year.