So...if 'grinding noise' doesn't equal sensations in the foot pedal, I wouldn't be looking at the ABS since it's a fairly simple idea....when one wheel is spinning at an RPM that is substantially different from the others, it activates. And you would feel that activation.
Grinding is metal to metal, or at least two hard surfaces. Everything from an inside brake pad, loose caliper mount, wheel bearing to a bad axle/cv and every bearing surface in between. Don't rule out a crappy control arm bushing allowing too much deflection. Make sure you aren't hearing air in the power steering due to a failing rack or pump.
So, how should you proceed......pull the ABS fuse. Go for a drive and see if you have the noise in the same place. No noise, you now know to drill down through the ABS system and do your diagnosis.
Noise still there?...it's something other than ABS. Next swap wheels around....see if the noise follows a wheel.(why you ask....it just may be a rotational noise that you eliminate sources for one at a time.) No...it's somewhere within the spindle to the diff if in fact it's a front end noise exactly as you described.
A thought....a bad/dirty rear abs sensor (dirty most likely) will light up the slip light. You may have two separate issues that are just coincidental.
That should get you closer to finding the problem.