The yellow plastic sleeves look like what's left of the covers designed to retain lubricant for the stops. Mine disappeared long ago so my stops are exposed, rounded head bolts that screw into the knuckle and kept in position by lock nuts. Remove what's left of the covers and inspect the stop bolts. At almost full left-turn and engine off, here's my right side stop (the gap is about 1/16"):
When in the position pictured, the tire is about 1.5" from the upper, widest part of the idler arm:
If the tire is rubbing the idler arm, the stop needs adjustment or replacement if it's damaged. If it's due for an alignment, have the shop check and adjust the steering angle.
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