Excessive grinding and shuddering

[2008basanti]

It started out where if I was driving around 50-60 kmh anywhere from 1500-2500 rpm the jeep would shudder but I could power out of it. I was driving slowly then one moment I heard a loud pop/quieter bang and it would shudder in reverse. As I was limping it home it got worse. Please listen to the videos below and let me know if you have experienced this or have any ideas on what my issue could be.

 

[BLACKJKU]

It's hard to tell best thing to do is jack the rear axle up and start checking the u-joints, wheel bearings, take rear diff cover off and check the carrier bearings and spider gears. then do the same with the front.

 

[Dirty Dog]

^^^^^^What he said^^^^^

 

[JeepJeezy]

this