i have also experienced this.
the noise is some what like axle/suspension/brake kind of noise.
how ever in my car, I have seen it when the steering is turned only like 15 to 20 degrees. like half a turn.
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but this comes very rare, when I went to honda they tried every thing to check it. but tab nahi arahi thi.
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i have experienced it may be 3 or 4 times.