Rubbing noise

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wcamp3rd

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I have a 03 Yukon XL 1500 4x4 and whenever i go around a right curve and turn the wheel to the right i hear a rubbing/grinding noise. It sounds like the front end, but not sure.
The check engine light just came on and at advanced auto parts they said it is the rear wheel speed sensor. Any help on what this could be would be great.
 

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