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Rear differentials make grindy sounds when they fry. Soon it will grind all the time. Then you'll be walking...and that's probably what's happened to you, right?
Have you tried jacking the wheel and giving it a spin, and a shake to see if there's play? If you notice the truck pulling to that side with the noise the caliper might be slightly seized and grind when it heats up, then if you hit a bump it shakes the caliper loose until you step on the brakes and maybe it seizes.
Solution: new set of calipers.
If not bearings ,It could be piece of rock ,ect trapped behind pad/rotor they will make a great grinding sound. Ans will last long time . I had one at 12 pm had to drive 1hr 1/2 10 degrees. A never did go away till removed pad and reinstalled. good luck
Also have had pads with bad spot (looked like to much hard in pads. ) They are noisy to.
I went through 4 sets pads in 1 month to get ones that didn't squeal or make alot of dust
ended up got one at ford no problems
Rezvani's Latest Post-Apocalyptic Monster Is a Ford F-150 Raptor Underneath
Slideshow: Called the Fortress, the 850-horsepower pickup combines Raptor underpinnings with military-inspired features, survival equipment, and a starting price of $285,000.