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first, check your brake pads, the grinding starts when the pad is worn to the rivets that hold it, then the pad starts to crack and break away. once the pad is gone there will be play that allows whats left of the pad to move around.. causing the thump, there should also be some change under braking, like going from a thump to a grind
this could also be wheel bearings.. but my guess would be the pads, and if it got to that point.. i would bet that the rotor is shot as well
Many times, rear tires that are out of round or severely cupped or feathered, or that are out of balance can create this type of issue. My first recommendation would be to have them and the wheels on the rear of the car inspected. There may not seem like there is much wrong visibly if you look at just the tread of the tires, but a good tire tech can spin them up and give you some solutions, and the inspection itself is inexpensive. Hope this helps.
AWD disabled from a sensor unit in rear differential that senses high temp. This thing is over $300. Whine is from fluid. Need to change fluid. This versatrack fluid is about $40 per bottle and you need 3 bottles. Thumping noise is from loose rear knuckle bushings. These are part of the entire rear knuckle assy. and you must replace complete knuckle.