Something is amiss with this set up. It has an anomaly causing the steering shaft to be too short. Please pardon my poor highlighting, but the purple areas should have the pins stick through the slots in the steering shaft. The green rubber part should be fairly straight and not massively wavy looking. That is pulling on the shaft inside the steering column and aggravating the grinding feeling. The bearings in the column are probably dry and/or failing causing the grinding sensation. I would replace the steering shaft with a collapsible steering shaft. Here's link
to Wild Horses Collapsible Lower Steering Shaft. I would replace this and the column with either a direct fit unit or a rebuilt unit from Wild Horses or Tom's Offroad unless you feel you have the skills to rebuild it, both of those suppliers stock the parts to rebuild your column, they are not super complicated just takes time and patients. Not sure what part of the country you are in but Duff's and Denis Carpenter have all of this available as well if you are in the east.
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The rag joint should like this:
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