2002 jeep grand cherokee laredo- grinding/rubbing noise.

Did you also replace the rear axle bearings ?

I had the exact same model Jeep with the exact same sound and replace all sorts of things. My fix was to drop the front drive shaft.the Jeep is all wheel drive and you're front drive shaft turns all the time. it is only for bolts on each end. takes about 20 minutes to take it off. if this does not fix your problem you can easily bolt it back in. I forget what was wrong with the drive shaft but that was my problem. it tends to make you think there are wheel bearing issues brake issues and everything else going wrong from the vibration that it sends through your front and rear end. I hope this helps