I think the differential went out. I can see particles in the lubrication and can smell burnt gear oil.
It is not uncommon for the rear differential to fail on this vehicle. If you see metal in the oil then that is an indication of a bearing problem. Most of the time the differential will need to be rebuilt, which entails changing the bearings. Due to the special tools that are needed this is best left to a certified mechanic.
Our certified mechanics come to you ・Backed by 12-month, 12,000-mile guarantee・Fair and transparent pricing