Did you ever find the problem and solution to this rubbing noise 02cumminsdude? I have the same thing going on. My noise generates at the center of the steering wheel and sounds like the noise you hear when you pull the drinking straw out through the hole of the lid in a large 32oz soda cup. Errrrrrrrrrrk.
My steering system is 100% fine otherwise. It only happens to me when truck is going very slow or at a standstill while I am turning left or right. It is so weird, I can't figure it out. Anyway, I hope you got yours fixed.