I have a 1996 Cherokee Sport. After I drive 10 miles or so, I can turn the wheels all the way to the left and I will get a grinding noise coming from the right front, I also get a slight vibration in the steering wheel when this happens. It only seems to do it when its been driven for a while, and only does it with the wheels all the way to the left. It don't do it when its cold. Other than this it drives like new.

If tire/fender clearance is good, I'd take a look at the r/s hub bearing. Once youve got it out, turn it by hand. Any roughness, its bad. You can't change the bearing (pressed inot hub at factory) so, either find a good one in a boneyard or get one from a parts dealer. While you've got the hub off, check the "u" joint at the axle end as well. (they never get greased at shops)

r/s?? what's that thunder? right/steer? You got me!

Oh wait! right/side!!! lol ->