2000 Subaru Legacy Noise in front-end

Hi, I got a subaru legacy that makes a wierd squealing/grinding noise it only makes it after driving for aproxx.10-15 min. And when turning while in motion, like going around a corner, if you hold the steering wheel center noise is gone but if you move it just a hair off center you can hear the noise. Braking does not change the noise, noise is not there while sitting still and turning only when moving, I checked the front-end and it all seems to be tight and nothing rubbing. It does not sound like a typical wheel bearing noise and the pitch seems to get higher the faster you move. Please help its driving me nuts!