Then definately check all of your CV joints, front and rear, my favorite is front right axle at the differential, that seems to be the one that does it most often. with all 4 wheels off the ground try to spin each wheel by hand. If one spins by hand but none of the others do, look at the CVs joints for that wheel first. Sometimes if you have all 4 wheels off the ground you can start the engine, put it in drive and crawl under to see if one driveshaft or the other (front or rear) is spinning. If one is spinning and one isn't the issue is with a CV or differential on the spinning driveshaft. When putting it back into park put it in N first wait about 30 seconds then pop it into P. The grinding you here is most likely youre transmission parking pawl trying to catch on one of the output shaft's gear teeth while the shaft is still spinning. Also try cycling the 4WD High/Low switch from high to low, listen to the gear to clunk over from one ratio to the other, and make sure there is NOT a fuse in slot 37 in the fuse panel in the glove box. Be careful with a broken CV joint, or a bad output shaft the entire vehicle can roll in park, use the parking brake or wedge the wheels if its not up on stands.
