First is this a awd vehicle ? If so the rear coupler on rear diff is locking up and has a solenoid that controls lock up . It may need whole coupler unit to correct issue which is common or normal to perform , Hyundai has service bulletins on this condition IF it is AWD !
It sounds like a bad bearing. Either a wheel bearing or differential bearing if it is all wheel drive.
SOURCE: 95 ford explorer, grinding noise/vibration at slow speeds.
CHECK YOUR UNIVERSAILS COULD BE WORN OR DRY U NEED TO PULL OUT THE SHAFT TO CHECK PROPLEY CHECK FOR STIFFNESS AND NOTCHEY MOVEMENT
SOURCE: 2003 Hyundai Santa Fe ABS light is on along with TCS light
you may have damaged the ABS sensor or wire to the sensor up front check the wire that runs from the inner finder well and make sure it connected to the ABS sensor on the spindle
SOURCE: rhythmic grinding noise front end - 98 chevy astro AWD
Could be low on oil, trans doesnt have fluid, wheel bearings are gone, or could be something stuck under the vehicle and either the tires or the drive axle is rubbing against it.
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