Will not drive in any gear

Driving down the highway around 70 mph and started hearing a slight high pitched squealing sound. When I pulled over I could smell something burning outside the vehicle. After letting it cool for a while I was driving it home and noticed that it was a little harder to get into third gear and notice the high pitch squeal when I would down gear prior to stopping. On the way home on the highway at around 70 mph the truck jumped out of fifth gear. After coming to a stop I tried to let out the clutch with the gear shift in neutral but it would make a terrible grinding noise. I tried each of the gears and reverse to see if the truck would limp to the nearest exit ramp and it would move slightly at first while making the grinding noise but in a short time would only make the noise with no movement in any gear. I do not have a lot of mechanical experience but would like an idea of what kind of repair is needed. Transfer case, transmission, ? Any help is appreciated. Thanks.