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2008 Armada SE (good car until now) makes loud grinding noise at slow speeds as if the 4-wheel drive is trying to engage. At 70 mph, it makes a "rubbing/grunting" sound, especially noticeable when veering slightly to the left. Have you had this problem? Is it safe to drive?
 

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Are you sure the noise is coming from the front differential? From what you describe, this almost sounds as though you need new front brake pads.
 
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Does the noise go away when taking a curve either left or right? I have a similar noise that looks like will be a driver side wheel bearing.

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