Grinding sound - 2005 Pontiac Sunfire

Whenever I turn, I hear a grinding sound. It is more prevalent when I’m turning left then when I’m turning right, however it is starting to get worse either way. It is more pronounced when I’m turning more slowly or have to use my brakes prior to turning. What should I expect when I take it to the Dealership? Is this something that would still be under warranty at 55,000 miles?