It sounds like you have a broken axle or CV joint. Do me a favor. On a slope, place the vehicle in park and see if it drifts as if it's in neutral.
Here is a link that describes what I am referring to. If one side is no longer connected, this is what will happen.
Also, the idea that the speedo works and it grinds when placing it in park indicates everything is working but no longer attached at the wheels. The park test will tell me for sure if this is the issue.
Let me know what happens or if you have other questions.
Tuesday, May 11th, 2021 AT 9:08 PM