Driveshaft problems of the 2009 Nissan Rogue

I have a Nissan Rogue s 2009, I have a banging noise from underneath the floor boards. I was made check by a mechanic and he said is the drive shaft and u joint is completely covered is rust with the drive shaft and can broke in any moment and the I have to repair not only that other parts too like the transmission, directional and so on. I went to the Nissan dealer part service and the person who work there he said that part is very expensive and for the low of mileage shouldn't happened. Is very expensive to replace is a fault of Nissan on a bad parts that they install on my truck. They need to make a recall and fix this big problem in the same way they charge for the truck and we paid, they need to replace at not cost is there responsibility for use bad parts and this is urgent I don't wants my mother, my nephew (3 y) and my nice (2 y) get into an accident and myself please help me this is urgent to bring my car for repair.

I was driving my 2009 Nissan Rogue when I heard a banging noise from underneath the floor boards so I turned around and headed back home when the truck came to a stop and would not come out of park so I went underneath the truck and it had broke a u joint and the u joint was completely covered in rust with the drive shaft still turning it had snapped the shifter cable. I have spoke with numerous people that have worked on cars before and they said this shouldnt have happened at this low of mileage. I also spoke with the parts manager from the dealership and he has worked on Nissans for 20 years and he said he has never seen something like this happen. I have been trying to work with Nissan and they are trying to shove the deal that they have for me down my throat and I am not willing to take it since this is a fault of Nissan on a bad part that they instaled on my truck. There is also another recall on my truck that I was never informed of and I have had my truck serviced at Nissan dealerships since I bought the truck in 2011.