Citroen Xsara Picasso front wheel rubbing on slow right turn

Could jack it up and see if any movement on front wheels .I actually noticed a noise also a few years back in a multi storey car park , when window down , on a fairly new car .It seems any noises are bounced of wall and are more noticeable , only time I heard it .There was nothing wrong with car and I guessed it was possibly the driveshaft rubber c/v gaiters flexing and just ignored it .

Two person test this.
one driving just creeping,alternating between 1st and reverse while you watch real close on the distance between the tyre outer tread and the wheel arch/
What your trying to achieve is the total movement of the wheel rather than the rotation/
I had one in once that the movement could be felt through the steering wheel and from the outside the road wheel could be seen to move to touch the front arch in R and the rear arch in !st.
Alas the next bit aint so good,
My MOT tester "Passed" it !!!!!
His excuse was he couldn't spot any play/wear in the steering and suspension,
Even when I demonstrated the road wheel movement as described above,
So I think the wishbone rubbers were at fault but never got the job or found out.
Symptoms match yours.
All I can suggest is try the above test/