First off, I realize that diagnosing a sound via description over the internet is a very difficult thing to do and ultimately it will be getting taken to the shop to see what is wrong. I am just hoping to get an idea of what the issue might be, and approximately how much this might hurt my bank account. I've been through a couple of expensive repairs lately so this one has me nervous.

It is a 2005 SR5, V6, 3" Toytec Ultimate Lift, with BFG AT KO's.

I am getting a grinding sound under right turn only, when turning with body roll/weight shift. This is happening at speeds around 20-30+ km/h, when the wheels are not at full lock. It is most noticeable on offramps/exits at speed. The sound is rhythmic, that speeds up/slows down with vehicle speed. Best described as a grinding/rubbing sound.

Things its not:
Grinding of metal-on-metal (described in other threads I searched) from the turn stops - its when wheels are not under full lock
Rubbing of wheels from lift/tires (I have a demello bumper on there)
Loose lugs

Any ideas/thoughts are appreciated!

sounds like you are describing a bad wheel bearing, most likely one of the drivers side, since you say it does it when turning to the right, you are placing more weight on the left hand side and it will be more noticeable.
like you said its hard to diag a noise from a description but thats where i would start.

At the risk of sounding too simple let me suggest check all of you lug nuts and make sure they are snug.

alright thanks, I will check it out.

I agree. It does sound like a bad front wheel bearing. I'd check both sides real good. If one is shot, the other is probably not far behind.

i just went through something similar. ended up being the driver side front wheel bearing. it's a real PITA to identify which side it is, so be ready to replace both! I did it in my driveway in about and hour and a half per side. just bought the full hub assembly and swapped them out. i'd seen some pretty ridiculous numbers for having the dealerships change these out ($400 - $700)

any special tools required to do the swap? difficulty?

Pretty much bolt-in if you get pre-assembled units from a vendor like @Bumper2Bumper Auto

Thanks for the mention! Yep, our bearing assemblies are a direct swap if you have a 2003 and up 4Runner. Saves a bunch of time, money, and headache!

Resurrected.

Getting a loud grinding noise when making a slow rolling sharp right turn that sounds like it's coming from the drivers side front tire area. No noises when making a left turn.

Thought it might be the steering stops, so I greased those up, but still getting the noise. Thinking it might be the wheel bearings.

Any input or advice as to what it could be would be appreciated?

What you describe sounds like left front wheel bearing.

When getting a front grinding noise when turning it's most always the wheel bearing on the opposite side of the way you're turning, you hearing the noise on the left side seemingly confirms that.

Bearings get loud and can even be felt in the floor board if bad enough. If noise turning right, no noise turning left, its the passenger side. When the bearing has a load on it (turning left puts the load on the passenger bearing) it quiets down. You can test it by jacking the vehicle up and turning the wheel see if there is any noise. Also see if it has play at 3 and 9 o clock when you grab the tire and apply pressure. It should have zero play.

Buy a bolt on hub/bearing assembly. Easily swapped out in the garage with hand tools if you are comfortable with doing some wrenching.

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There's many posts about this with some conflicting answers on which is which so I likely got it reversed on which side is bad.

As mentioned it would be best to jack up the front and check each side to determine which side is actually bad....but if it were me I would replace both sides if neither have ever been replaced, it's very likely the "good" bearing is not going to last much longer.

Thanks for all the feedback!

I'll try to see if it's the bearings by jacking her up and turning the wheel.

To clarify more, this happens mostly when I turn right onto a slight incline, like a driveway or into a parkinglot. I usually don't get it when I make a normal right. The slower I turn the slower the loud clacks, so it's definitely rotational. The sound is unmistakenly coming from the driver side wheel area.

I replaced my cv axles two years ago with aftermarket ones so I'm thinking it could also be those going bad from trail abuse. No tears or visible leaks on the cvs though on the driver side or passenger though.

I got some good video of the sound and will post it if I figure out how to do that.

Video of the noise