Grinding Noise whenever the gear is on either R or D?

2016 TOYOTA RAV4
181,000 MILES • 2.5L • 4 CYL • 2WD • AUTOMATIC
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PROSPERITY80
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My vehicle is making a weird noise whenever the gear is on either R or D but works fine on P or N. It sounds like grinding noise but I'm not 100% sure how to describe it. I recently replaced the ac compressor the and the belt tensioner. During the process is removed the alternator to easily access the compressor but put everything back together and make sure all screws are tight and secure. Everything seems to be working fine but just can't figure out where exactly it's coming from. It's worth to mention that the 15 mm shallow socket to remove the serpentine belt has been stuck on the tensioner pulley for over week and I have not been able to successfully remove it. I doubt that would cause the noise because i had the same issue about a year ago and the noise just stopped on it's own. It took about a month or longer. To remove the socket is another issue. i'm not sure if it might cause an issue or not.
Mar 28, 2026 at 10:14 AM
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STRAILER
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That should not cause the noise. To me it sounds like one of the CV axles has popped out of the transaxle. I would raise the car in the front and use a flashlight to check the engagement of the CV joints on either side. This video should help you raise the car up.

https://www.youtube.com/watch?v=xLFn_bMkZc0&pp=0gcJCdkKAYcqIYzv

Please upload a short video in your response of the problem, so I can see and hear what's going on. Ken
Mar 29, 2026 at 10:29 AM
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PROSPERITY80
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Regarding the noise issue, it looks like the noise came back after I replaced the belt tensioner. One thing I notice, with the engine running and the ac on, you can hear the noise but as soon I put the gear on either R or D, the noise is louder. Engine is running very smooth on P and N even with ac on. With the ac completely turned off, engine is running very smooth whether the gear is on either P,R,N,D. I'm wondering if the issue is with the ac compressor. Its a refurbished compressor that I got on Amazon but it looks like brand. new. The noise started two or three days after installing the refurbished compressor.
Apr 5, 2026 at 2:29 PM
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STRAILER
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Okay, I see what you are saying, so I would remove the serpentine belt and start the engine to see if the noise is gone, only allow the engine to run no longer than 2 minutes. This will tell us if it is engine accessory related or not. Please upload a short video in your response of the problem, so I can see what's going on. Ken
Apr 6, 2026 at 8:38 AM