Gears & Axles - Rearend too noisy? vid inside

Not the best vid, sound is a bit lacking in fidelity, but this sounds awful loud and awful metallic.

Video On You Tube (http://www.facebook.com/video/video.php?v=3217886403667)

So, the reason I asked this is because after about 20 miles on the freeway, the noise from the rear has me paranoid enough that I get off the freeway and take surface streets the rest of the way home. Sometimes it's a grinding noise, sometimes a whine. Once I get home, the rear rotors are way too hot to touch; I can actually smell the heat when i get oiut of the car.

Last night I pulled the shoes out nd lef them on the bench, but on the way in to work, same problem :( Axle house not hot, just the rotors and tires. Not even the caliper is hot. I'm afraid I may be cooking the bearings with all that heat, ad the noise seems very solid, like it's coming from something bigger than a rotor.

If there were a bearing problem in the pumpkin, I wouldn't get heat allo the way through the axles, right?

Also, wheels up and idling (about 10-15 mph), if I stop one wheel, the rearend starts to sound like it's chewing on nuts and bolts. I understand torsen noise but this is pretty extreme.