I drive a 2017 Audi Q7 . After it warms up and I have driven 10 miles or so I hear a rubbing sound that seems like it may be coming from the steering wheel
2 year old car under warranty. Go tell that to your Audi dealer.
There are two common complaints; the normal sound of the electric power steering system and the subtle sound of the steering column shaft boot where the shaft goes through the fire wall.