So with 59660 km on the odometer, i started getting a slight grinding noise from the rear when I used to accelerate the car from any speed breaker. This phenomenon was only happening at the time of accelerating from just a startup speed. I did not notice any noise once the vehicle had accelerated.
Took the Vitara to the dealer and asked them to check everything.
It turned out some bolts were loose. They tightened them and I asked them to do a compete wash.
So far have been driving the vehicle for the last five days without any issue.
...will update if anythings develops.