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the left wheel is located about 1.5 cm closer to the arch.
If there is no evidence of bodywork repairs then it is possible that the front wheel made abrupt contact with a kerb (or similar). It may be possible to pull the existing chassis leg back into shape. I thought I had a similar mis-alignment when my car was on the driveway. Checked it again on some level land and the problem was no longer visible. Any pressure on that corner will result in the wheel being pushed upwards and backwards in relation to the arch.going4the1 wrote:Unless you take these measurements on a perfectly level surface you can't be sure about geometry.
I think castor controls how far forward or backward the wheel is in the arch but it would have to be out loads for it to cause the wheel to rub on full lock. If you happen to know any mechanics it would be worth getting the suspension looked at to check for any bent bits. If you're sure the suspension is sound get a 4 wheel laser alignment check done and take it from there. Castor is adjustable on Rev1 but for Rev2+ you will need extra parts to make castor adjustments as described in the link below., how do I adjust the castor and pull the wheel forward. 
No doubt there will be somebody along who knows or you could try the search function to find out 