2005 Kia Sedona Right side scraping noise during

my kia sedona making noise like (scraping between two metal) in the right side while turning to the left side with acceleration engine.but if i release acceleration or without acceleration the noise is gone.follow by this problem in bettwen noise also came specially if car is cool(firs run) in slow drive, but after car run for 60 km/hrs to 100 km/hrs noise also gone and car is vibrating till speed up to 110 km than car is going nicely without vibrating. all tis problem came only during engine accelerated.but if did not press the acceleration (gas fuel) theris no sign of all above.what cause of this problem?
Thanks.

note : i already sent to garage ant they told me to change shock absorber and axel but i am not sure.