Guys need some help. So I am noticing a grinding/squeaking noise when I turn the steering wheel all the way to the left or right while in slow motion (Into Driveway/Coming out of Garage).

I took it to my indy shop and they said everything looks in tact and don't see anything out of the norm. It usually happens when the car starts up from sitting for a while. Whether overnight or during the day in the parking lot.

Any ideas?

I also have noticed an increase in steering wheel vibration in the mid 50's to mid 60's. Tires are brand new and the balancing has been done twice (road force as well).

 

Could be "tyre skip", quite common on the XF, especially when cold, and usually depends on which tyres you have. Search and ye shall find!

 

I had the same issue on my 2010 XF SC a few years ago. It was the power steering pump failing. Not sure why it was only at slow speed and full lock but sounds v similar to what you describe. Not a particularly difficult or expensive fix

Some have had issues with their diff although usually earlier 2009 models. Symptoms sound similar (search forum for specifics). Needless to say that is not a cheap or easy fix...