ABS + TRAC = wheel bearing.
the 'grinding' is probably a worn coupler. it sounds like rocks in a tumbler.
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Can you scan it? Check to see what the engine temp. sensor is doing. If it is broke or a wire is grounding, it may cause the car to run pretty bad due to a few tables in the pcm based off of engine temp, such as AFR and timing. May cause a bad idle or hard start at times.
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