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this is a hand on fix
no web bunny on earth can do this. why ask>?
and if i do, it delays the fix. and possible danger that...
no you can not hope, only FATE rules earth and entropy.
take the car to service and find the cause.
it can be bad caliper or pads, or stuck slider in caliper
or a 2x4 hit the brake backing plate, a 5min fix.
why guess, and worse why drive a dangerous car.
ID assume the worse, its brakes or the suspension i bad.
all very dangerous.
get it inspected by live living humans.
sounds like you have a problem with one of your lines on your power steering or one of its components. the grinding noise could also be one of your pulleys that have gone bad too. check your steering assemby gear box.