Q: Lexus problem

I was traveling down an interstate at approximately 65mph and felt like a miss (actually thought car died) and went to pull off shoulder when it jerked violently (felt almost like a blow out) while slowing it actually locked up the rear wheels screeching to a stop. After regaining my composure I tried putting in gear and moving forward(car never died) it wouldn't move and jerked badly. Shut engine off and begin making arraignments to get vehicle towed. After about one to one and half hours when a friend arrived to assist, I was showing him what it was doing and after putting it in gear it actually started moving. You could still feel like a grinding (felt and sounded like rear passenger side)but it moved freely. I thought at first it was the transmission or rear differential but now Im almost thinking it could be a spindle, bearing or CV joint(its all wheel drive). If it was the transmission or rear housing I wouldn't think it would go into gear or move at all. Didn't move far.

My car has 198000 miles.
My car has an automatic transmission.