Yes, driver's side is left. The back of the headliner needs to be dropped slightly to access the connectors, and that isn't so simple on a Rogue. You might want to get some professional help for that, or consult the service manual (it's pretty much the same operation for '14~'20, so a manual from any of those years will suffice). The easiest way to handle the wiring and preserve the connectors for the future is to pull what's left of the spindle wires through the grommet. You can then use them as a pigtail that mates with the harness, and you can put the grommet back in the hole and seal it with RTV silicone so it won't leak. Grounding just means attaching to the metal of the car, and it doesn't matter where you attach. The entire chassis and body is "ground". You could actually do it outside the grommets except Nissan doesn't specify the wire colors of the spindle wiring, that's arbitrary and is determined by the spindle manufacturer. So there's no way to determine which wire is which without dropping the headliner to see the harness connector.