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Omg worn out rotors will not make your steering wheel make rubbing noises. Some ppl should just read and not write. There is a rubber boot that your steering shaft goes through on the fire wall .sometimes it dries out .if you lube it with silicone paste .not petroleum based.it might help.do it from inside the car.under dash .or it might be clock spring .or rotary coupler in steering wheel. You might just try to lube .the hen if it don't work take to dealer.if it don't help.
Yes its risky. Dont drive with that noise from clock spring.Its indication of its failure. I believe this is the "clockspring" -- the electrical cable inside the steering column that connects your steering-wheel-mounted electrical controls to the rest of the car. ("Controls" used be just the horn.) The cable wraps around the steering column so it can turn with the steering wheel. Sometimes it starts to rub and squeak.
you could have 2 problems. steering leak and poss a bearing. jack up the car and spin the right front wheel, makes noise there is a problem. if the noise only happens when you turn, with tire off turn the wheel and watch.
Could be a ball joint, could be sway bar bushing. You need to check it out soon, a bad ball joint can cause the wheel to fall off. Typically a bad ball joint will squeek a little when you turn. Sway bar bushings are not so dangerous, they just make annoying noises over bumps.