You need to get someone else to look at this car and preferably put it on the alignment rack for starters.
A 5 to 10 MPH impact is a severe one and at a minimum can bend a wheel rim, hub, and control arm.
As to the grinding, without car in hand I have no idea. A suspect could be a bent brake rotor shield which is rubbing slightly on the brake rotor. If this is the case it's not harmful but more irritating than anything else.
Even if that were the problem, you likely still have an issue about damaged suspension parts and this may not be noticable to the naked eye at all.