06 Precedent rubbing/grinding in rear end. Video included

[TahoeDawgZ71]

The bearing can be purchased at any bearing supply store as long as you can read the number on the bearing. They'll be able to match it up. Flip the Tow/Run switch to tow mode and disconnect the main positive and main negative battery cables. Once disconnected, remove all of the wires from the motor and disconnect the speed sensor. Remove all four mounting bolts for the motor. You'll need a 7/16" socket for three of them and a 1/2" socket for the other one. Slide the motor off of the differential and lower it down. Be careful, it's heavy. Get it on a bench and remove the two bolts that hold the silver cap onto the motor. Mark it with a sharpie marker so it'll be easy to line it back up when you go to reassemble the motor. Slide the motor apart. The armature will come out with the cap. Remove the motor magnet. Using a hydraulic press, press the armature out of the cap. Careful not to let it fall on the ground and damage it. Once the armature is out of the cap, you'll see a snap ring holding the bearing into the cap. Remove the snap ring and tap the bearing out. Put the new bearing in and reassemble it. Make sure your motor brushes are resting on the armature when you press it back together. You don't want to damage the brushes. Feel free to ask any questions that you may need. You also have the option of shipping it to me for repair if you feel uncomfortable with it. I don't mind.

Another option would be to replace it with a high speed motor.