Grinding/growling noise coming from rear end

[Redland1]

I’ve had a grinding noise coming from the rear end. Seems like it’s somewhere in between the rear axles from what I can tell. It happens when I’m loaded mostly and take off in low or 1st gear and gets worse if I slightly turn the steering wheel. So far I checked. The U joints and they looked good no play and also drained some of the oil out of the diffs from the top hole and the rear was a little darker but not too bad. I could tell it’s coming from between the two diffs because I was on a dirt road and put it in low and walked alongside the truck (not safe I know). Any ideas of where I can look ? On and when I can hear the noise and I turn the steering wheel I get a vibration on the steering wheel.

-Have thought about this a little more and the front inner steer tire on the driver side has uneven wear on the inside and cupping. Could it be the wheel bearing and that’s why I hear it when loaded and turning the steering wheel ?