2011 Chevrolet Malibu drivetrain & axles problems

Late last week, after getting off the freeway, onto the city street, my front wheels completely locked up at 50 MPH (as if the transmission had a catastrophic mechanical failure). This ended up in someone rear ending me, causing injuries and several thousand dollars worth of damage to the cars.

My engine light has been on since I purchased the car back in 2014 the dealership said it was no big deal that the light would evenually go out. Upon purchase it had 51,000 miles on it, because they had it for a few weeks due to it having hail damage the finance company wouldn't approve the loan because of problems. The car was riding ok up until a few montha ago I noticed I was loosing power it was driving slower, I started feeling it tugging when I wanted to pick up speed.