Thread back from the dead....
Just went out to a water crossing, very shallow, about 6" below rockers. Easily done in 2wd. Its man made graded down limestone. After leaving I had to do some minor trails that only needed part time 4 wheel since it was raining and muddy. As soon as I shifted, I heard that same grinding noise like bad rotors or brake pads( mine are both new 3k ago). Also, within 10 feet, my abs light came on.
After going back to 2wd(no more noise) and getting home, the abs light came off. The grinding noise is still there, but not near as bad. I checked the front driveshaft boots, both boots I see on the front diff and transfer ends. No rips, but I can see where fluid has leaked on both ends in the past.
Could the water crossing have revealed a sign that the cv boots are allowing muddy water in and creating the grinding? The abs light was, I assume from mud on the sensor?