2002 Saturn Vue V6 AWD sounds like an F1 car when i drive it. Very loud constant noise. Checked trans fluid and it was fine.

power steering is low on fluid or going bad.

most probably it is a wheel bearing,

Thats a vague problem description.
could be brakes, suspension, drive train.

If it's a scary sound get some body to check it out, because a failed suspension or brake problem is dangerous

it could be a rocher arm, or it could be the timing chain tensioner, mostly it the rocker on those they make it sound like the motor is going to blow, to have the rocker checked and adjusted i beleive is about $180.00. good luck.

thats AWD, is your vehicle normally front wheel drive, theres no easy way for the transfer case to jump into AWD, mine does it to although mines a Expedition an its the front that kicks in.....The only thing you can do is keep a eye on fluid inside axle....

Have you checked your wheel bearings? When these go out you can get a harsh grinding noise. This sounds like that is what it might be. Does it happen when you are going fast/slow turning/going straight? I know you said it's inconsistent but the more info the better. However, if I had to bet, based on what you have already said, it's your wheel bearings. Let me know if you have further questions. Thanks for using FixYa!

How do i check the transmission fluid in 04 awd v6 auto

Greg,
Sounds like wheel bearing issues. I've had my front wheel bearings replaced twice on an 02 Vue AWD V-6. The 02-07 Vues use the same wheel bearings and they are a known issue with these
cars. Another problem with these cars is the rear support bearing for the drive shaft in the AWD models. I recommend having the wheel bearings and rear carrier bearing checked out. Good luck.

just completed a plug removal and install on my '02 awd v6. if you have the time and patience it's straight forward; common sense was most helpful. to gain access to the plugs, both fore and aft, you must remove, in short, everything near to, associated with, the air intake system. common tools plus a 1/4 socket, with 8 inch extension to hold a #10 star bit. these star bolts are under the rectangular plastic plate atop the intake. once you have those out, disconnect all the wiring, carefully. lift the intake out, look for plug covers, fore and aft, ignition assembly lays atop each row of three plugs. with the hands of a surgeon, remove the ignition assembly, and by golly ye shall see your reward. easy from then on.
replaced my plugs with the iridium 'honeys'; marked improvement in starting, acceleration, smoothnes, noise, and gas mileage to the value of + 3.0%. changed out the oil with mobile1 extended performance, changed transmission fluid. took a shower. time involved, 7.0 hrs. dealer be damned,,priceless!

I had the same problem with my 2004 VUE 2wd. There were also some electrical issues like the turn signals randomly not working. I replaced the battery and now the tranny shifts smoothly and the acceleration is much improved. Also, no more electrical problems.