"I lifted it then got a kinda grinding noise. Mostly at 50-60 MPH when I let off the gas. The sound goes away once I give it gas and used to go away when push the breaks. Now it continues when I’m on the breaks."
It's your CVs son. Those are the exact same simptoms as mine. Your tranny is probably fine although a servicing never hurts.
You'd probably be OK for the trip - you can't hurt the CVs any more than they already are unless they get bad enough to actually bind up. Right now the noise you are hearing is probably just the balls popping in and out of grooves that have worn into the joints. Are the boots torn? The joints are probably running dry. Get some grease in them before you drive it any further and replace the CVs ASAP.