when I put it in reverse it sounds like grinding?

Hi,

When you hear this, does it seem to come from the differential or transmission area? The idea that it feels like it is in neutral when in park tells me something is broken or out of adjustment in the drive line.

My first guess is that the shift linkage is causing it to be between park and reverse. The noise would be the parking paw that holds the vehicle is still partially engaged while it's in reverse. And when in park, it doesn't fully engage.

By chance, if you were to allow the vehicle to move when in park, do you hear any noise?

The shift linkage is a cable that can be adjusted. I suspect this is where I would start. The more I think about it, the less I feel there is a broken part. Instead, I feel it is between gears. Pay attention to the gear indicator to see if it lights up P and R.

I attached the linkage adjustment procedures below. You may want to do this first.

Let me know if this helps or if you have other questions.

Take care,

Joe

See pics below.