Lift kit, or spacers, or both. If that doesn't work, you'll have to learn to live with it. Or possibly you could limit the turn radius, by adding, or changing the steering stops. Or run smaller tires.
The gentle rubbing while turning on a mostly flat floor isn't the real problem in the long run. The real problem is hitting a rock, or pothole while turning at speed. That'll cause bump steer. So be aware of that when you're out there wheeling.