OK, lets clear this up, Caster and Camber have nothing to do with it at all, nor does low profile tyres.
The phenomonon is indeed as others have said - the Ackerman Principal, as you will be aware but have not thought about the two front wheels when turning corners have to turn in two different radius, the outer wheel has a larger circle and the inner one a smaller circle, Ackerman engineered his principal to ensure that steering systems have a compensatory element built into the engineering to provide the wheels are parallel when runing straight and different angles when on a full lock, this provides a tighter turning angle for the inner wheel.
However, this can only be a perfect angle for a given point on the tyre and as the tyres are so wide either side of this given point will be scrubbing, as you can appreciate the very outer edge of the tyre and the very inner edge of the tyre would in fact need a different angle to be perfectly planted on the road.
Without Ackermans principal tyres would wear out at an alarming rate and whilst its not a perfect system it is the very best even today.
What you describe is perfectly normal but for piece of mind you should be confident that your tracking is correct as an error here will increase the tyre scrub on full lock