The noise could point to a wheel bearing or bad tire.
The lights on the dash are telling you it has a code set in the computer system.
Depending on the code sometimes a trans will go into fail safe mode and cause hard shifting.
You dealer can get the codes and they should point to the problem.
The noise and code both could be caused by a bad wheel bearing. remember the wheel bearings have VSS sensors built in them.
If the dealer finds a code no post back code no.
MT