It could be your wheel bearing. The grinding might be due to the weight of the car pushing on the bearing, when you have it jacked there is no pressure, so no grinding. Also, be sure your brake pads are good, they can cause a grinding noise but it would also probably, but not necessairly, make the noise when jacked up.
SOURCE: i have a 2004 toyota
well most likely problem is the rubber bushings on the track bars or mounting bushing for the struts are worn and dry rotted they will cause the squeaking when cornerring and when braking because of the momentum of the body moving back and forth. with so many miles on the vehicle i would have them replaced... please rate this thanks
SOURCE: differential chattering or grinding niose
hello i will help u.there is an additive you can add to the differential to stop this problem.you can find it by going to a good auto parts store.But otherwise your noise is common.and not a major problem.
SOURCE: Rear end in 1999 chevy 1500 binds on turns
well i had the same problem everyone told me the clutches in the rearend were sticking making it stick in positive traction (only your passanger side rear wheel pulls unless you start spinning then a type of clutch engages the other side so you have traction then when you stop spinning it disengages it should never be engaged if your on pavment) now you can do what i did listen to everyone when they tell you its normal or you can take it to someone with experience now and save yourself some money cause it will start popping then it will get some viberation then next it will break the clutches and when that happens you will have to replace the pinion,ring,and the spider gears as well as the clutches.make sure you have pleanty oil in rearend if you dont add the limited slip conditioner it might free clutches up but if i had it to do over id put it in the shop or stop driving it before i broke something hope this helped
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Also when driving it feels like a juttering
It is an Audi A3 on air bags
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