vx ss 2000 shaking shuddering on acceleration

[decode33]

My vx ss is shaking teribbly on acceleration like bhur bhur. And on reverse it sounds like grrrrrrrr. The whole car shakes when I accelerate and noisy like ghut ghut. It is still drivable and I take it on the highway. The engine and transmission are in excellent condition. I think the axle or whatever and suspension are bad. What is bad from underneath? How can I repair it (change bushings?) and how much parts cost. The car is now 290K kms. What parts do I need? Thank you