'02 4 cyl Highlander Front End Noise

[LizWiz]

We have a 2002 4-cylinder Highlander with about 65k miles on it. Just noticed a new front-end noise crop up yesterday. Appears to be coming from the right front tire area.

It can be best heard when driving under 30 in the neighborhood, but probably is there at higher speeds to. Sounds like something is rubbing (fairly loud squeak, squeak, squeak noise). No vibration or clunking noise.

Noise goes away with the slightest application of brakes or if you turn the steering wheel to the right.

Took both front tires off and had a look. Nothing out of the ordinary. The right front brake calipers lower pin (two pins that allow the caliper to slide in and out) seems to not be moving, while you can see movement in the upper pin when squeezing with your hands. Not sure if this is normal or not. LH caliper seems to have movement in both upper and lower.

Any ideas what might be causing this noise? Hopefully it is something simple.

Thanks for your help!