Scary?: Rotors slightly contacting dust shields during hard corner (wheel bearings)

More than likely just the bent shield causing the contact, but before you start taking things apart, you need to check wheel bearing play, I would think. Jack up each front wheel and manually check side to side or up down play. Should have no play. If you jack up under lower control arm, as far outward as possible, you can check entire front suspension at the same time, with help of pry bar under tire. If you do have any play, you will have to determine if it is bearings or ball joints/ bushings/ steering components as cause.