Jack car up
Take off passenger side wheel.
You'll need to drain your gearbox oil.
Undo the driveshaft nut, 30mm
Take off two 21mm nut/bolts that hold hub to shock
Undo 3 13mm bolts holding driveshaft gaiter onto the gearbox
Then try and wangle out, may need a little tap, but don't directly hit the end of the driveshaft.
When out you should have 3 bearings on the gearbox end, these can sometimes explode and go everywhere causing grinding noises
It may not be that at all but there isn't much that would cause a noise similiar to what you describe