The CV axle breaking will cause the noise and the broken sensor will cause the light to come on, with that many miles I would do the other axle as well. here is how to do the job in the images below, so you know what you are in for with the repair.
Here is a video of the job being done on a similar car:
https://youtu.be/nZPJzFuOITc
Check out the images (below). Please let us know what happens.
Images (Click to make bigger)
Saturday, February 25th, 2023 AT 12:54 PM