Steering wheel noise
At first the steering was normal, but when initiating park assistance and the car took over the steering wheel you could hear this grinding sound, as if the there are parts grinding against each other every time you turned the wheel after canceling the auto park assistance.
This hasn't been an issue on my car, and it was called in for the steering check and it didn't have that issue.
Every Morning if my car is a cold start, the first cycle of wheel turn would generate the "grinding" noise you mentioned, it kinda feels like my wheels are too sensitive to the uneven pavement. It only grinds on the first cycle of turning, be it left turn or right turn, but right after that there would be no noise just like nothing happened.
I have scheduled a service appointment next monday for my passenger side backdoor pull handle LED not working, so I'm talking to the service guys about that.
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