I'm no mechanic, but it sounds like you are low on power steering fluid, check it out...
A 2000 Chevrolet automobile grinding noise can be caused by several things. The most common cause of a grinding noise is worn brake pads.
Get it checked out for a wheel hub bearing. That's what was wrong with mine, but caught it ahead of time
Bad CVC joint, bad wheel bearing, bad brake pads, loose or incorrectly installed brake assembly or wheel itself.
Check your power steering fluid level. It may be low.
the gear box may be going out or its metal on metal rubing somewhere
I would bet that it is a wheel bearing, i was experiencing the same thing. i didnt notice it at driving speed because of engine noise.
I had a 2000 Explorer with a grinding noise coming from the front . It my case, it was the axle bearing assembly on both sides. They are around 200 per side to purchase.
Go over the dealership estimate to get a place to start looking for the noise. The noise could be a bad front axle, brakes, wheel bearing, motor mounts, the list goes on.
it could be a rock or your cars not funny
I had to change the wheel barring to get the noise to stop that was a quick fix, but the only thing is you have to change the wheel barring on the other side too!
change your wheel bearing!!
It will rumble and increase with speed.