2007 X3 3.0si with 87K mile vibrates when in drive and stop

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2007 X3 3.0si with 87K mile vibrates when in drive and stop.
I jacked the car up shift to drive or reverse when I release the break, the clunk happen, and drivertrain is shaking. and I also hear some grinding noise before the drive shaft turns. I’m wondering if this cause by the torque convertor.
I have a video underneath the car:
https://www.youtube.com/watch?v=tiDEMdFUt8c

I just replace 4 broken engine mount bolts on the right side. and checked the right engine mount and the transfer case mount both of them look fine. I did not check the drive side engine mount not sure if the mount damaged while drive with the broken bolts.

Any X3 owner in this forum have the similar vibration problem before?

Thanks