Funny you should mention the Esp light! I have the Esp turned off and the last time I was going up a slip road bearing left and it was making the scraping sound the esp skidding symbol light flashed up on the dash.The remap handset systems are really good, especially if there is a need to take the map off again, or if there is a selection of maps available you can chop and change to see which you like best. I used to do that with my last ST but once I went to Collins maps on the mk2 facelift I didn't look back really. Massive difference in character compared to your Bluefin/Mountune type maps, a lot more linear in response across the whole rev range.
For your noise coming from the front passenger side I'd suggest having the CV joint checked, the gaiters can perish over time and if the grease has come out that'll definitely lead to the joint expiring. From memory I think the drivers side outer gaiter is usually the favourite to fail. Also worth checking if the ESP light is activating, indicating an ESP intervention. This can happen if there's a mismatch in tyre wear or brands front to rear and not always obvious as the indication on the dash can be hidden by the steering wheel when you've got it turned.
Will that be because i have different brands of tyres on? A few need changing but how would that cause the scraping sound?
The steering wheel vibrates at 60+mph also on the motorway could the tracking be out? As I'm going to get new tyres all round soon anyway.