The source of your problem is the rear differential. This is what allows one wheel to spin a greater or lesser number of times than its opposite counterpart. In my Rodeo (4wd V6 LSE) i have a limited slip differential. You can tell if you do too by checking the sticker under your hood on the driver's side. If it says G-80 or something like that (I can't quite remember) then you too have an LSD. What's important about a LSD is that one needs to add LSD additive to the Gear Oil when changing the differential fluid (should be done every 30k miles in the Rodeo). If your differential fluid (gear oil) is too old or missing the additive, the LSD can act up and cause a grinding noise during tight turns. Before you do anything else, change your differential fluid. It's easy, cheap, and my problem went away as soon as I did it. Hope this was some help.
An easier way to see if you have a limited slip is to lift both back tires and spin one tire, if the other tire turns the same way then you have a limited slip, if it turns the other way then you'll have an open differential.
It depends on where the grinding noise is coming from. Most of the time the grinding is coming from the brakes and the brake pads need to be replaced. If they've been grinding for a while, the rotors will need to be resurfaced or replaced. Other possibilities for grinding are worn axle bearings, or a problem with the clutch. If the clutch goes out, there will be a grinding noise when you try to shift gears.
If you turn around a corner and you hear a grinding or clicking noise coming from the front wheels, you may have a CV axle problem. This grinding or clicking will be much worse when turning one direction than turning the other. If the noise is worse when turning left, the right CV axle is to blame, if the noise is worse when turning right, the problem is in the left CV axle. For a bad wheel bearing, you must raise the vehicle so the wheels are off the ground... Grab the tire firmly and try to wiggle it around. A bad wheel bearing will have a lot of play and will wiggle around, a good wheel bearing will be solid and will have very little or no play.
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