Sound like rubbing sandpaper coming from steering wheel and noticed a leak of some kind from driver side
SOURCE: Rubbing or grinding noise coming from Driver side rear tire/wheel
I had the same problem that based on interner research is common for Fords trcuks/suvs. The common problem fro rear humming "rubbing"sound might be the rear wheel bearings/seal. These will need to be replaced as it will progressivly get worse and the noise louder and eventually the bearings can sieze. I would hesitate to take to a ford dealer if I were you as it can run $500-900. Take to mechanic that knows how to replace wheel bearings and seals. My mechanic replaced them for about $150. and the bearing and seals are around $40. A good way to test this is to raise the wheel were you can freely spin by hand...if does not spin or there is a lot of friction then it might be the wheel bearings.
Good Luck
SOURCE: steering wheel grinding noise..sounds like no power steering
First, check and make sure it is full of fluid. If it's not fill it and watch for leaks. Hope this helps.
SOURCE: Rubbing/grinding noise
Usually the strut bearing will make this noise upon turning a corner and hitting a rut or pot hole when turning. A wheel bearing will make a low pitched whinning sound constantly
SOURCE: my 2006 Ford F-150 has a grinding noise in the
Sounds like you have a IWE that the gears are ground down, or a bad vacuum line to that side.
This could have been caused by the IWE ( Integrated Wheel End ) solenoid ) TSB :
http://my.voyager.net/~sscully/file_tsb06_08_15.pdf
You can check the vacuum line with a vacuum pump and gauge tester, just to be sure, but considering it is grinding while in 4WD, I would say the IWE needs to be replaced on that side. Maybe change the IWE solenoid while you are doing the work ( it will be a rounding error on the total cost )
SOURCE: power steering noise on turning; noticed no power
Check the ends of your rack & pinion for signs of a leak. If a leak is present, replace the rack & pinion. If no leaks, maybe your power steering pump is going out.
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