ABS and Brake light coming on and grating sound from engine when brakes applied. Thought it was brake pads but now looks like cv joint??
If brakes are good,could be cv axel or wheel bearing.
If it only happens when you apply the brakes it is most likely a bad ABS system Sensor or a cracked sensor ring on one of the wheel-hub/axle ends, which is telling the system that your wheels are locking up. The grating sound you hear is the ABS brakes working as they should, but only because the sensor or ring is telling it that you applied the brakes hard and it thinks the wheels are sliding instead of stopping.
Search Hyundai Santa Fe Questions
Are you a UK consumer? CarGurus now has a discussion forum in the UK.
Hyundai Santa Fe Experts