Problems After Winch Out

Needing some assistance guys. So here's the problem....

Vehicle: 2005 Explorer Eddie Bauer V6
Over 300000 miles maintained pretty consistently

So 2 days ago, thanks to bald ass tires I got caught in the snow. Had a company come out to winch me out. Now a couple times along the way of pulling me out to the freeway he had to jerk it kinda hard to get me free after getting restuck a few times along the way. Now that I'm out the following is going on. First off... Had it in 4 low the whole time.

Current Issues:
1. ABS light always on
2. 4X High keeps coming on
3. AdvanceTrak stays off
4. Jerky when accelerating
5. Rough/grinding feeling/noise

My background with vehicles is I'm not a mechanic but I know my way around under the head. Usually do my own work and if I don't know how to do something research it and then do it. Any suggestions tips advice pointing me in the right direction would be much appreciated. My fiance and I are living in this car right now so we depend on it for our lives and our safety! Thanks in advance!

 

[410Fortune]

Sounds like a cv axle or driveshaft is binding
Visual Inspection is a good place to start

 

[Fix4Dirt]

where did they connect the strap to? does sound like something is binding, though not 100% sure why binding would cause ESC to get mad? unless its rotating at a different rate, no? jamie is th pro here