2013 MAZDA CX-9 Wheels Problems

MY VEHICLE SEEMED AS IF THE TRANSMISSION WAS SLIPPING BETWEEN GEARS ON THE HIGHWAY IT WOULD TAKE FOREVER TO SWITCH INTO HIGHER GEARS FOR HIGHER SPEEDS THEN WHEN SLOWING DOWN IT WOULD JERK AND THEN FINALLY STOP OR IF I WAS IN TRAFFIC WHERE I DIDN'T NEED TO MAKE A COMPLETE STOP IT WOULD JERK TO SLOW DOWN AND SKIP GEARS AND JERK TO SPEED BACK UP WHILE ON THE HIGH WAY TRAVELING AT NORMAL SPEED WITH CRUISE CONTROL SET IT WENT FROM 6TH GEAR TO 4TH GEAR FOR NO REASON AT ALL! THEN IT STARTED MAKING NOISES SOUNDING LIKE BOTH THE FRONT AND BACK END FIRST YOU WOULD ONLY HEAR THEM WHEN TURNING RIGHT OR LEFT THEN STARTED HEARING THEM IN REVERSE THEN YOU HEARD THEM WHILE DRIVING ALL THE TIME ON THE HIGHWAY BACK ROADS AND PARKING SOUNDED AS IF MY TIRES WERE GOING TO FALL OFF! I...