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All wheel drive is just that-- All wheel drive-- not to be confused with 4 wheel drive . The difference is with AWD there is a 3rd diff in the transmission that allows the front and rear wheels to operate at different road speeds . When 4wd is selected that 3rd diff is locked and so both front and rear wheels drive at the same speed regardless of ups and downs in the road surface . This results in a torque wind up in the drive train and places load on "U" joints --splines --CV joints and gear teeth . The grinding on turning corners will be the CV joints trying not to flex because of the torque wind up . How to prevent this problem=== Do not use 4wd on hard road surfaces === as the tyres cannot slip to relieve the torque Restrict the 4wd use to snow , mud and loose surfaces TO fix the problem unselect 4wd drive and reverse several yards to release the pressure in the drive train and the actuator has a chance to pull the gear out of lock up. If that doesn't work check that the actuator is actually working
I would guess your differential. Raise your rear end and try rotating wheel, it should make the other wheel spin the opposite direction. I'd the other wheel doesn't spin, I would say it's your differential.
You probably have a front drive splined disconnect assembly that has gone bad. This assembly engages the front differential when 4WD is selected. Below is a figure of the item, it is on the passenger side of the differential area.
sounds like your rear differential has some internals gone or going bad if it wont move at all in two wheel drive then its probably gone sorry. the planetary and spider gears need replacement or the splines on the rear axles are sheared off take you diff cover off( be ready for about half a gallon of gear oil to spill out.) look real good at the axle shafts and gears try to move stuff around. if there is excessive play that could be your problem. hope this helps