Four things to check; tires, shocks/struts, differential, and breaks.
tires: check to see all the tires are balanced and at the proper pressure
differential: if you are hearing a grinding sound and there is oil dripping from the rear or front differentials you should et them reaired
shocks/struts: push down on the bumpers if you are able to bottom out the susspension then you need to replace the shocks/struts
breaks: if your breaks are squeaking or you hear metal grinding then you may need to replace the brakes
the differential would be your most likely candidate for the problem the way you have described this problem, but don't rule out the others because it may be a combination of the problems.
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