2000 Honda Passport

Noises problem
2000 Honda Passport 6 cyl Four Wheel Drive 146000 miles

My car makes a grinding noise only for a few seconds, when I drive at slow speed (i.E out of a parking lot, stop light/signs). I do not hear/feel when at a fast drive. I had a front differential done last year for the same symptom could a rear differential be going bad? Also, my car makes a rattling noise when I make a right turn