Ever had a bent drive shaft caused by half shaft popping out?

[Lucybug]

Help!!!!!!!! I have a 2001 BMW X5 4.4 and was sitting at a stop light and when I put my foot on the gas pedal, the engine "popped" out of gear and the engine just "wirred", would not move. No oil under the car where it sat for 3 hours until flatbed could tow to dealer. Dealer is now saying front right axel shaft (half shaft) came out which cause the drive shaft to spin and break, cracking the transfer case and broke the oil line into the transmission. Dealer says $14,000 to repair, needs new transmission amongst many, many other parts. I'm not buying their story. Can anyone help? Thank you