A grinding noise suggests a bearing at fault or perhaps worn pads on the brake rotor.
However, the clunking noise you mention could also point to a problem with the drive shaft or differential.
The first thing you should do is to get under the vehicle and try twisting the propshaft back and forth. If there's any movement this points towards a worn universal joint on the propshaft. A worn universal joint can cause a clunking noise - particularly when pulling away. The vibration caused by a worn universal joint can also damage bearings in the differential and also to the splined ends of the axle shaft.
You're also going to have to remove the wheel from where the noise comes from and examine the end of the axle shaft/bearing.
The link below is of images of the rear axle:
land rover discovery rear axle Google Search
SOURCE: rear whinning noise under acceleration 1997 land rover discovery
http://carservicemanuals.blogspot.com/2008/06/download-land-rover-discovery-workshop.html
SOURCE: Land rover Discovery 2004, rear right hand side down 2 inches
If you have the coil spring suspension, then your spring for that corner has really sagged[doubtful] I suspect you actually have the rear air suspension ,and the air spring for the Right/Rear has lost air, allowing the rear end to lower down greatly. Usually, you need a new air spring when one develops a leak. You may or may not be able to see the leak with a spray solution of soapy water after the spring is removed for inspection. Sometimes you have to apply about 20psi of air pressure into the spring to inflate it a bit, then put the spring under water in a big enough tank/tub of water to catch the leak that way.
SOURCE: ac repair 2000 land rover discovery
Please check the a/c compressor clutch; it may be not working. FYI the compressor does not run all the time. It is the clutch that will cycle on and off to maintain a/c circuit pressure. To check, put the a/c on high and watch the compressor under the hood to see if it cycles.
SOURCE: 2009 Land Rover Discovery and Blackberry Curve 8900
You'll have to call the dealer have them pull the VIN to see if you have the latest and greatest software. Also you can check on the land rover website under owners put in the last 8 digits of your vin number and it will tell you if the BB8900 is fully compatible.
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