The belt should not rub, and to the best of my knowledge you cannot adjust the wheel left to right.
Looking at the pictures, I would look at adjusting the lift assist hinge (that's what I call the part the belt is running through, not sure what the real name is). You appear to have some room between that and the base of the machine. Check the screws on the underside, loosen them a little, and see if it can shift closer to the machine.