Mechanic Job in San Luis Obispo, California

My minivan broke down on the road and the axle boot of the front left tire popped out and leaked grease. I have it parked on the street and I'd like to get it looked at, thoroughly diagnosed, and possibly fixed in place. I'd rather not tow it again at my own expense. It starts up just fine, but whenever I put it in gear (reverse or drive) it doesn't move and I hear a loud clanking/grinding noise from under the car--sounds like chains running over metal--if that description helps. Looking to hire anyone who has experience and can help! Thanks