Don't drive it till you find the problem...
there are pictures of the front part of the driveshaft having torn up the inside of the car when something gave way at the front of the driveshaft system...
Check front of driveshaft..
that movement back and forth of the half shafts is necessary for the wheels to go up and down... but they can make a lot of noise going out... but it sounds from your description like the main driveshaft....