1998 Honda CRV Clutch Issues

I’m suddenly having some issues with the clutch on my 1998 crv, and I’m not sure if I will need to replace the clutch or if there is anything I can check before I do that. The symptoms are listed below. The clutch is hydraulic, and I have checked the fluid level. The fluid is very dark, but the level is fine. I also had the master and slave cylinders replaced within the last two years.

1. I can only shift into gear when the engine is off or if the engine is on and the car is moving.
2. With the clutch pedal in (Clutch disengaged) and shifter in gear, the car will stall if I come to a stop.
3. There is a grinding noise when car is moving, clutch pedal down, and shifter in gear.

Thanks in advance! If I do need to replace the clutch, any links to tutorials would be very helpful.