2005 S4 Quattro Cabrio V8, 58k - fully stock

At slow turns (e.g. turning into garage, parking spot, etc), I hear a noise like something rubbing (I want to say grinding but it's not quite a grind but sort of ). It happens turning both directions and I don't believe it happens in reverse or at higher speeds (although I can't be sure since maybe I just can't hear it then). It's very intermittent. I was thinking control arm bearing/bushing or something along those lines but I'm no technician by any means. Just a typical car freak!

I would love to hear guesses. I just hope it's not the rack!