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Your Yamaha has a limited slip front diff. When they get low on oil, they will tend to growl in a tight turn. I'd drain the oil and refill with a good 80w90 gear oil. The other thing that helps is adding 1 ounce of friction modifier, made specifically for limited slip diffs., to the oil. Some of the gear oils have the friction modifier in the oil already. Royal Purple is one of them. If you can't find one, the auto parts store should sell a 4oz. bottle of friction modifier. The early Honda 4wd's were bad about chattering front diffs. also.

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I don’t think low oil would make a grinding noise. I think low oil maybe caused a damaged gear and something is now broken causing a grinding noise like a differential ring gear or pinion gear. If you keep riding it most likely will get worse. I would stop riding and take it apart. Maybe you will limit the damage now and only have to replace a few parts instead of all of the parts.