Q: Only drives in reverse

Hello. From what you describe it sounds like your vehicle has experienced some sort of serious mechanical failure. The noises you describe, along with the broken bolt, do sound like they could possibly be associated with a broken axle. In most cases a broken axle will not cause the transmission to only function in reverse, though it is possible, depending on how the axle breaks. A broken axle will produce a lot of noise, usually clicking, and can eventually render the vehicle undriveable if the axle breaks completely. If the transmission is able to go into gear, but does not seem to be able to transmit power forward then it could possibly be related to the axle. If the transmission is not able to go into any gear besides reverse, then I would consider the possibility of faulty transmission sensors or solenoids. All of these possibilities are increased if the vehicle was in some sort of collision. I would recommend you stop driving the vehicle, as continuing to do so may result in further damage, and have a professional technician, such as one from YourMechanic, come to your location to diagnose what the exact cause of your issue may be.