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If it is a four wheel drive check your tail shaft or drive line by securing the vehicles front wheels jack up the rear tires and in park try to rotate the drive line if you can hear the transmission sound like it is going into gear the transfer case could be damaged! If not a four wheel drive pull the transmission dipstick and look to see if the fluid is dark red or metallic grayish color if so then you're clutch disks inside the tyranny have been worn out and it needs to be rebuilt!
There are 2 models here the push button will flash if the system is not engaging or disengaging properly . If front drive shaft is turning. That is with car raised and supported . if front drive axles do not turn then the axle actuator is not engaging axle shaft passenger side. Remove actuator and manually engage shifting collar with a screwdriver still does not turn then inner axle is twisted.
Assuming that you have already ruled out the brakes, severely worn engine mounts can transmit vibration and noises from the engine which are not normally heard. You don't say in what I see but is the vehicle two or four wheel drive. Since you mention CV half shafts I have to assume it is at least front wheel drive. If the vehicle is four wheel drive then there is a front differential with bearings in it that may be at fault. Have you done both sides when you say "hub assembly". Defective hub bearings will make grinding noises which will change tone or intensity when turning, accelerating or braking however the noise is usually fairly constant unless they are only just starting to fail. CV joints don't normally "grind" unless they are really bad. They usually make progressively worse "clicking" sounds or "clunking" sounds especially when turning hard, changing gears or direction of travel (forward to reverse and back again). Do you have non-stock tires/wheels? Larger/wider than factory spec tire sizes can rub the fender wells when the car is moving or turning. Another thing it could possibly be is the air dam below the front bumper. If it is loose it will push down in the airstream while the car is moving and rub on the ground.
If it is a push button four wheel drive system there should be a soft vaccum line the runs to your front end where your axle shafts are connected. There is a little box there which is what controlls your two wheel and four wheel. It's possible that the line is dry rotted and won't hold enough pressure to switch out of four wheel or also possible that the sensor there has gone bad as well.
It sounds like your 4WD is still engaged and you need to have it serviced. It's common for the 4wd to get stuck in the on position with the button pushed to the 2wd mode. As you turn the front wheels are binding with the rear wheels. There is a vacuum switch on top if the transfer case on the drivers side that may have gone bad and needs to be replaced. You can pick it up at Auto Zone for $25.00 and $85.00 at the dealer, there is three vacuum hose attached to it that needs to be disconnected and then the switch can be un screwed from the transfer case like a spark plug.. Good luck and hope this helps. keep me posted, be glad to answer any question you may have.
I have had this problem and it could be one of three things, first the truck has automatic locking hubs, lack of lubrication to these hubs could cause them to make exessive noise while engaging. also you could need to lubricate your universal joins on your forward drive shaft. lastly my problem was abs wheel sensor actuator in drivers front hub had (internal part of hub looks like a large gear with teeth) had broken a gear off causing the hub to get wear in it making it clunk while engaging the four wheel drive.