I already fixed one problem (seized e brake cable) which stopped the skidding stops but one thing persists and that's a grinding noise from rear whenever the jeep gets hot after driving longer distances...by that I mean longer than my daily commute which is only 8 mi total. Slowing, turning, going up hills I get a big sustained grind from underneath. Gonna check u joints, axle, bearings and whatever else I can while I'm changing out my catalytic converter today. Got my build list from Jeep.com and I've got a Dana 35c 3.55 ratio rear axle. Tag was rusted off and it only took a day for Jeep to get back to me through email.

 

I can go ahead and tell you that you'd come out cheaper to just replace the D35 axle with either another D35 or C8.25.
Please don't spend a dime repairing a D-35.