My brakes are grinding pretty loud now but it still stops ok

You should have them inspected before driving anywhere. Once the brake pad material has been used up only the metal backing plate is left to apply friction to the rotors and that doesn't work at all. You can inspect your own pads by using a flashlight and look at the remaining pad thickness, but the sounds you are describing indicate they need to be replaced. If you wait too long the rotors may be ruined as well. Always perform a complete brake job by either machining the rotors or replacing them with new rotors along with new brake pads and if you have wheel bearings those need to be repacked as well. Make sure to have full brake pedal operation before moving vehicle.