So recently Iv been hearing this odd grinding type noise coming from underneath the car I only hear it on idle and sometimes it will stop for a secon and then continue. When I open the hood I dont really hear it but when the hood is closed i can hear it very clearly from the wheel wells on the passenger and driver side. Any ideas on What it is ?

heres a link to the videos I took : https://photos.app.goo.gl/AnC2TyyZRT9QK2P16

So I took the car in to the dealer and they diagnosed it as the transmission fluid pump failing, they special ordered the part from Germany and replaced it under warranty free of charge.

Great. Thank you for letting us know the outcome.