Universal Joint problems of the 2008 BMW X5

Was driving at about 45mph when heard a roaring sound followed by a loud snapping sound. Rpms was stable with no warning lights. It happened right at the state border on la plata hwy 140. There's no emergency lanes on neither side of the hwy. I was able back up on reverse for 25ft and parked safely at the rest stop on the colorado side. Engine light came on then. Had vehicle towed to a shop who discovered the front drive shaft broke loose when the universal joint snapped in half, coming off front hub. There's collateral damage to transmission casing, tranny cooling lines, and dings to exhaust pipe. O2 sensor failed and triggered engine light.