yusuf

I hope car is well serviced and you have clean air filter. You can start from first cleaning the idle control valve just below the air filter neck and see if it helps. My second guess it could be coolant temperature sensor is giving wrong reading to ECU, as you mentioned that it misbehave when fully hot. That raise quite a suspicion here. As coolant temperature tell the ECU to how much adjust the air flow through air flow meter sensor and if any of two reading is bad then it will fluctuate the idle. Btw, just for record your 6G74 engine ideal idle should be 800-900 rpm at cold start and when fully warmed it should be around 900 - 1000 rpm. Hope this help.

Go to any emarat petrol station and get the alignment done, and then see if car still pulls on one direction. No chasis damage unless serious accident can cause car to pull either ways, it may be easiest way to scare you as they are very busy to spend an hour for too small job of alignment

i agree its a desert drive and if you want to play carrying all that weight is not advisable for that you should have taken land cruise which is a long wheel based car and go to the desert with family and camp for extreme desert drive go alone in pajero and see the fun.

did this grinding noise of yours go away or its still there