My phone only takes 150x150 pixel video but I will do this after school tomorrow when's it's not dark and yes in kinda makes a grinding noise in 4lo or 4hi when I went up the incline it would just rock back and forth like it was stuck on something

 

linkage is probably messed up.

 

i have a 4.5 inch lift. when shifting into four low it sometimes slips out. it will not grind when this happens. it will grind when shifting into four low. i think that lift kits affect the t case linkage a little. or maybe the t case drop kit (i have a 3/4 inch drop). i have never had a problem with four high. when i shift into four low the shift lever is tight against the back of the shifter slot. i am thinking that shifter needs to travel back a little more. i plan on messing with the linkage or carving the shifter slot further back.

 

its your tcase drop the lift does absolutely nothing to the tcase your drop messes up the angles for the linkage.

 

It's also has death wobble at 50 and the drivers brake heats up to smoking levels it's was rusty when we got it transferd over to my dad we found it has not been on the road since 2004 and we had to christen it by eating out so we drive 40 miles to Arbys for some food hit a bump and it all began it only does at exactly 50 mph could it be the brake?

 

your drivers brake heats up to smoking temp? front or back brake? sounds like a stuck caliper or a flapper in the rubber brake line. a flapper will allow fluid to pump to the brake but will prevent it from traveling the other way. the pressure will usually bleed off if you let it sit awhile. this can burn through a set of pads very fast and can be dangerous to drive.

 

The drivers disk brake the brakes are also covered n rust

 

The pins that the calipers and pads move across are probably rusted and holding the pads tight. Another possibility with disk brakes is that the seals on the pistons are shot an not retracting the pistons.

If that XJ has been sitting for 7 years, its gonna have issues. Working through that will give you an education on what and where everything is, and how $ it costs to replace. Its a rolling project.

 

It's rust free well the body is any ways lol