hmm. grinding doesn't sound good. There is a well-known 'thunk' that comes from the ABS system 'arming' that occurs a second or so after putting it in D for the first time in the morning/ after several hours. The pedal rumble may be associated with that, but grinding??

Short of having a scanner for your own use, there's no way to reecover the trouble codes if the MI light is out.

Hope they figger somthing out!