If you are lucky could just be the bumper cover... Possibly your mudflap also.
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2016 Black Trail Premium KDSS - Traded
2020 Army Green TRD Pro: 265/70R17 Goodyear Duratrac RT, Eibach TRD Pro Lift-Kit Springs, Victory 4x4 Blitz Al Sliders, RCI TRD Pro Integration Al Skid Plate Set, RCI Gas Tank Al Skid Plate, Front Runner 3/4 Slimline Roof Rack (w/1.4m Easy-Out Awning and Quick Release Kit), Morimoto XB Taillights, Canvasback Cargo Liner, more to come...
2023 Yacht Blue Kia EV6 GT
I've got the same issue, only in reverse at full lock. Mud flaps have been removed and fender liner mod done. If you look closely at the body mount, you can probably tell if something has been rubbing against it.
I can see mine has been rubbing slightly there, so time for a bmc or re-locate, but the labor for those has gotten so expensive recently