Soon as you start the car the brake pedal goes to the floor

Look at the tires for areas where it appears to have been sanded with really rough sandpaper.

Raise the front end until the tires clear the ground. Hold a piece of crayon or chalk against the center of the tread and spin the wheel until you have a solid line around the center of the outer circumference. Lower the car and measure across the front and rear of the tire. The rear should be about 1/8 - 3/16 of an inch farther out. When driving in a straight line, is the steering wheel perfectly aligned? Will the car continue in a straight line if you let go of the wheel for a few seconds?

As you're turning the wheel or once the wheel is turned while the vehicle is in motion?

Ok. So it's only when you're at a dead stop and turning the steering wheel. While the wheel is actively being turned. No sound when the wheel is still. Correct?

You need to have someone listen near where the sound emanates from to pinpoint the source of the noise. It sounds like it may be a problem with the steering rack, or maybe balljoint, strut, tie rod end, or other steering-related suspension component.