Tranny noises from my aw71

So yesterday i was kinda doing a hard turn i heard something knocking around and then i heard some scratching noises. It sounds like something is being knocked around and getting lodged in something and then scrapping. I got out and it sounds like its coming from the tranny-ish area. I found a youtube video of what it sounds like. The link is https://youtu.be/b8STyRXuq4c
The car drives fine but the sound is bad and ugly and dont want to drive it until i know whats wrong and if i can fix it.

Get under there and see what the transmission mount looks like. Sounds like your tail shaft is hitting the tunnel.

U joints? Mine froze and had a scraping/bad metal noise I assume from the center bearing,