Time for an inspection at a tire and alignment shop. In particular, they'll look at the ball joints, wheel bearings, and control arm bushings. There are some things that cause noise that are not serious but that is not a chance you want to take. The rubber bushings on the control arms and shock absorbers can make squawking noises that sound like grinding.
You didn't list the size of the truck. Some of them have rack and pinion steering. A tight inner tie rod end and loose mounting bushings can cause noises.