Not sure what's going on... Please help!
 

Hi Everyone, I've got this noise come up when driving, and it flashes up the traction control light..... The Steering feels strange, steering wheel doesnt feel like its sitting straight and doesnt return to central.... Its like the steering is really loose and the steering wheel is off centre? Anyone have a idea what's going on.. Sorry for the poor video. It's a 2005 D5 with 180k. I've noticed that the sound and light only come on when turning the steering to the right. When braking the brakes sound like they grind but this is intimitant. The steering and light is constant.
Thanks

Check the wheel bearings and suspension.

Take wheels off and inspect brake discs and pads. lol for any caught stones and look for any obvious rubbing areas.