Grinding When Turning at Low Speed

Got a 2015 ST a few weeks ago and am loving it except for one glaring issue that I'm hoping to get fixed under warranty this coming Monday.

When the steering wheel is close to lockout on either side and I'm traveling at low speed there is a horrible grinding noise from the front end of the vehicle. It shudders as well.

Has anyone else experienced this and were they able to get it fixed under warranty? Thanks

Edited to add a video with the noise. Skip to about 50sec in for the best example.