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Wheel Hub rubbing

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Hi,

Noticed that both rear wheel hubs don't spin freely, they rub or grind.
2013 Elantra sedan gets about 10% worse MPG than a 2012 Elantra we traded in for it, two identical cars yet 2012 got much better MPG and now we notice a rubbing noise on the 2013.

2013 Elantra has 19000 miles but has always had reduced MPG, markedly worse than the identical 2012 we traded, but dealer could never find a problem with 2013.

Wonder if this rubbing on the wheel hubs is to blame for the lower MPG? I can't think it helps. Not sure if its the emergency brake, the power brakes, the wheel bearing or something else.

Is this rubbing noise normal?
Rubbing happens with the hub only or even with the wheel attached to the hub.

Anyone experience this?
Any fixes or suggestions?

Have scheduled appointment with dealer although they said maybe I drive with the brakes applied., aghhhhh.

Thank you all.

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