I have a 2010 HS 250h and am hearing a scraping/screeching noise only when I turn the steering wheel to the right. I was under the impression this model had an EPS system that would not use a steering fluid, but I was able to find a reservoir marked "power steering fluid" when I checked under the hood. Any ideas about what could be going on?

 

Please post a photo. I looked at my 2011 and did not find any power steering fluid reservoir. It is supposed to have electronic power steering.
Having said that, your noise could be a bent brake dust shield, or something else rubbing. It may be best to have a shop inspect the car.