Hi,
If the driveshaft was turning and the vehicle wasn't moving, it has to be related to the rear differential or one of the axle splines. Something is stripped if it is grinding.
To get started, lift the rear off the ground (safely) and turn the wheels by hand. See if you hear the noise and if you can determine approximately where it is coming from.
Next, check for play in the pinion flange (where the driveshaft attaches). See pic 1
Next, remove the differential cover on the rear to drain the gear lube from the differential. Check for metal shavings or other contamination. See pic 2
If possible, take pics of what you find and upload them for me to see.
I will watch for your reply.
Take care,
Joe
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Thursday, March 25th, 2021 AT 6:10 PM