Loud noise underneath

[chas3]

I guess my transfer case or drive shaft just failed. I was driving home last night, got to a red light where I had to turn right, waited for the green light and right while I was turning right, a loud noise came up from underneath. I pulled over, looked under and behind the car, nothing unusual. So I thought it was ok to at least get home. When I tried to leave, the loud noise came up again when I reached just 10-15kmh. So I guess the transfer case failed or the common splines issue got to it.

INPA error memory is empty for the VGSG, however, the following errors came up for DXC8:

E R R O R M E M O R Y
---------------------------------------
Date: 26.11.2010 19:31:08
ECU: DXC8
JobStatus: OKAY
Variant: DXC8
-------------------------------------------------------------
RESULT: 2 error in error memory !
-------------------------------------------------------------
5F1E 5f1e - variant code: Info : Trailer_Oscillation_Logic on EEPROM deactivated.
Error counter: 56
Logistic counter: 40
Mileage 134690 km
Fahrzeuggeschwindigkeit 0.00 km/h
ACB 0.00 0/1
HBA 0.00 0/1
ECD 0.00 0/1
HDC 0.00 0/1
DSC 0.00 0/1
ABS 0.00 0/1
BLS 0.00 0/1
ASC 0.00 0/1
No matching error symptom
Test conditions fulfilled
Error present now and already stored
Error would cause a warning lamp to light up
Error code: 5F 1E E0 38 28 34 9D 00 00 00
-------------------------------------------------------------
5DEC 5dec - clutch gearbox-ECU: clutch temporary () closed. rear-wheel drive! Strain of transfer gear-Error counter: 1
Logistic counter: 37
Mileage 135000 km
Fahrzeuggeschwindigkeit 19.41 km/h
ACB 0.00 0/1
HBA 0.00 0/1
ECD 0.00 0/1
HDC 0.00 0/1
DSC 0.00 0/1
ABS 1.00 0/1
BLS 1.00 0/1
ASC 1.00 0/1
No matching error symptom
Test conditions fulfilled
Error not present now, but already stored
Error would cause a warning lamp to light up
Error code: 5D EC A0 01 25 34 BC 01 59 E0
=============================================================

I couldn't find any clear explanations of the codes, so I will have to get it to the shop on Monday. Just in case this is the splines issues, how much would this cost to fix?