I have a 2004 Buick LeSabre Custom with 140,000 miles on it. The issue I'm experiencing is with the front axle. When I steer to the left or right, I hear a rubbing sound that appears to be coming from the right wheel area on the front axle. Also, turning the wheel slightly emits a consistent medium pitch sound. That sound only happens if I slightly turn the wheel. The rubbing sound always happens when I turn the wheel to the left or right. It'll rub maybe 6 times or so when I turn the wheel left or right. Any clues on what the problem is?

I had a similar issue and it turned out to be the CV joint. Installed a new drive axle and it went away. Could also be a bearing. Lift the wheels and feel for play.

Do you know roughly what it costs to have that fixed?

Under $50 for the half shaft. I installed it myself.

I've had two wheel hubs (which include the bearings) go out, one sounded like a had a rock stuck in the tire and made that clicking noise which changed with speed. The other warped my rotor (or the warped rotor took out the bearing?) but that had no noise, only break pulsing.

Whatever you figure out is the issue, if you plan on doing it yourself check prices from where you generally shop against Rockauto. We have a thread dedicated to keeping up to date discount codes for them which will save you an additional 5% off your purchase. I always end up buying from them if I can wait for shipping.

Is this something that I should have fixed asap, or can it wait.

Hard to tell without knowing what the exact problem is, and how bad it is. Also depends on whether you do just local driving or are planning a longer trip in the near future.