2005 Honda Odyssey drivetrain & axles problems

My wife had a doctor's appointment and was waiting in the office. She has parked the car in parking lot. After sometime all of a sudden car's alarm went off. All from doctor's office rushed out to parking lot to see what happened. She noticed some smoke coming out under the hood. And within seconds car caught fire and burnt. Whole front of the car burnt completely. Insurance company has called it a total loss. I'm still puzzled to figure it out why this has happened. Car was parked and engine was off.

I'd been experiencing symptoms of judder for over 3 years that I have been driving odyssey. It's rare and hard to replicate, so never bothered taking to honda dealership or any other mechanic. I recently learned that honda had a service bulletin but I was not aware of the same. It basically means honda knew about the problem and there were other owners who had experienced similar problem. (per honda it's a service bulletin, but not a recall, so I was not pro-actively informed about it).