Rubbing sound when moving at slow speeds

Hello all! I’m trying to diagnose an issue I’ve been noticing with my 2004 Prius for about a month now. It’s been making a rubbing sound when driving at lower speeds (although sometimes I can hear it faintly up to around 30 MPH). It only occurs sometimes, but when it does it is pretty apparent. I jacked it up and turned the wheel to try and identify where the problem is, and it seems like it is coming from somewhere along the CV axle. But I didn’t see any leakage near the boots.