The usual cause is degraded fluid in the rear differential.
The noise has improved so this supports the cause.
Normally, if a car with a hydraulic power steering pump is turned to full lock, you will get a slight rubbing noise, but if you back off from full lock a little the noise goes away - this is normal.
You shouldn't have your steering at full lock for more than a few seconds at a time.
I would guess you are now hearing a noise that was there to begin with.
Try putting your husband's car on full lock and listen out for a rubbing noise from under the bonnet (should be able to hear it from the driver's seat) - if your car sounds similar stop worrying.
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