Grinding noise

Your description sounds like a front drive-train issue either a bad half shaft joint or wheel bearing failing. Either would be felt in those two places. I would look at the joint boots for damage or grease leakage. Then grab the axle shaft itself and test for motion in the joints. It doesn't take a lot of wear or damage to cause noise and vibration.

The places to look for wear will be in item 2 in the first picture. That is one of the drive axles. They shouldn't have any play when twisted or if you try to move the ends around like up-down or side-side. The other place to look would be the front drive shaft. The larger joint is a constant velocity unit while the front is a common U-Joint. They can wear and get loose, or they can rust internally and bind up. The only real way to determine if they are binding is to remove the straps to get the joint free and then see if it moves freely. The CV joint side should have no play when you try to rotate it.

The squeak and thumping when shifting to reverse suggest a U-Joint issue. I would probably start with the rear driveshaft and be sure the joints are OK, then the center bearing if yours has one. Then the front drive shaft and finally the front outer axles. I have had more than a few U-Joints fail internally and show no signs other than binding when removed.

That would be the CV joint at the case side of the front shaft, there should be zero play in that joint. An easy way to track down the problem would be to unbolt that joint and drop the shaft out. If the noise stops you have it. But any rotation or sideways motion in that joint will cause problems.