My 96' Jeep Grand Cherokee Limited will make a horrible grinding noise while in Drive or Reverse while stopped or moving under 10 mph. When I move the car into Neutral or Park the grinding noise almost completely goes away. The mechanics I’ve taken it too don't have a clue.

Help please?

Sounds like the noise is related to the Transmission or possibly the Transfercase. The way that I isolate a noise is to raise the Vechile on Jack Stands all 4 wheels off the ground and put it in drive . You should be able to tell where the noise is comming from and probally have to crawl underneath the Jeep to hear the noise. If you cant find anything with the Jeep engine off put the Trans in neutral and rotate each wheel for noise distortation,