2003 Ford Escape Unaligned driveshaft

I have some more information for you. I had my car in my garage and lifted the rear end and putting it on jack stands and removed both rear wheels, I chalked the front wheels and put the car into neutral and returned to the now visible wheel hubs, I looked over control arms, struts, tie rod, nothing was damaged. Next thing I did was firmly grab the rear passenger wheel hub and shook it, nothing really serious, it would rotate about a quarter inch in either direction. (Not side to side shaking, its moves as if the car was in drive or reverse) so I moved to my driverside rear wheel hub and attempted to do the same motion and I cannot get the rotor to rotate by hand. Its very rusted, but when driving the car it forces it to rotate. But there is this jerking sound from the rear end. Could this be my problem? Its 4WD, and when engaging 4x4 the jerk becomes twice as bad.

My parking brake doesn't work. The line (i guess its a line) snapped when parked on a hill with my trailer and 2 quads in it. You can pull the lever but theres no tension. It can be freely moved when the vehicle is in motion. And my car was just recently in for major repairs. Lower control arm separated from the subframe causing the wheel to jerk hard sideways ripping the c/v joint in half. Front end fell down and subframe slid across the blacktop for a good 100 feet, It destroyed my rack and pinion. Both left and right lower control arms need to be replaced, front subframe was replaced, c/v was replaced, and rack and pinion was replaced. It happened due to a safety recall so Ford was responsible for it. And they had to pay for it. Ive taken it back to them 3 times since I've had my car back (haven't had it for 30 days) they have a technician drive it and of course he returns and says theres nothing wrong with the car and told me Ford would do absolutely nothing for me and to leave the dealership. So after that I've been trying to figure this out myself. And as for the driveshaft, the bolts seem to be tight, it doesn't have any play in it and it appears to still have the weights on it, it's never been replaced, however its been removed to fix other issues but never had any work done to it. And i'm no expert, I don't have a clue how most of this vehicle operates. The best way to explain the vibration would be to take a circle object, take a saw and cut a portion off so that the circle can no longer roll properly. Its got that type of thud to it.

Problem solved, created another problem. Jacked up my rear of the car, took wheels off and turns out both drums are bad, the brake shoes, the adjuster, went and bought everything put my car back together, when to drive and had no brakes. So I pumped the brakes to attempt to rebuild pressure but to no avail. Got out and seen brake fluid squirting from the cylinders. Went to jack up car again, got left wheel off, put on jack stand and moved to the other side and when lifting the other side my damn car slipped off the jack stand, pinned the jack stand and floor jack. What do I do?

I shouldn't have messed with it. I have no experience in drum brakes. I didn't think it would be such a hassle. Didn't know about all the little springs and such. My cars rear wheels were hesitating, but it would drive. Now my car is inoperable, it has no brakes, its in my garage. I live on a hill so if I were to even attempt to move the car out of my garage I'd smash into my neighbors fence. I can't figure this out. I was able to get my car back on all fours by going to the local part store and purchased a cheap hydraulic jack. I honestly have no clue what i'm doing. I don't know if I should continue or not. Brakes are a important thing on a car and I have no brake. Because the cylinders popped. Is there anyway to push the cylinders back in and secure something like a c clamp to hold the cylinders in place so I can have this car removed from the garage, because the way it's setup it would be physically impossible to get a tow truck in there to hook it up.