My 2001 Integra LS automatic coupe developed something of a noise a few weeks ago. This was prior to me adding new tires and the weather turning cold here in Akron. I back out of my garage in the morning (cold start) and then turn the wheel to go down the drive.
I usually start music up when I first get into the car, but one day I did not, and I noticed this: when I turn the wheel after backing out, the steering screeches a bit. Like rubber-on-rubber or something. I don't feel anything physically and it doesn't do it except when turning the wheels when the car is not moving.

Any clue as to what the noise is and what, if anything, I need to do about it? Thanks! I don't know if it's an issue or not, or if I should just relax.

Acura's warranty is 50K miles and I'm about 1100 miles away from that. Haven't had anything other than a minor emissions computer problem since I bought the car new. It's been excellent.