Edit: You also posted in the 3rd gen.... so I am assuming you do not have a 4runner. Well, err... ignore below.

No idea what how a concorde is set up. I am assuming it is a front wheel mounted transaxle... those can be a PAIN since everything is built in one.
V8 or V6?
Grinding when turning came be a CV going, or it could be bearings. When you turn it puts more horizontal force on the bearings and the CV joint, which can make the sounds loud enough to overcome road noise. I suspect in a bad bearing or cv boot, there is regular indicatative noise; but it can be masked.
If the boot is ripped, that is a good indicator but joints can go and not show any outward signs.
Best thing to do is jack up the tire; pull the tire and grab the rotor and push/pull it. You can do this with the tire, but it is harder to tell since the tire is rubber, which will flex.
OH shoot. The rotors on ours is free floating... ok, do it with the tire on. You want to see how much front/back play there is.. If the bearings are going, they will have a lot of play in them and you can tell.
Anyway. Neither is a super expensive fix.