Quick update. Called good Sam Monday am for tow from "safe" spot I got to Saturday night to nearest repair facility. Good good time estimate and multiple follow up checks. Easy and painless. Also got assured I will be reimbursed for the Saturday night tow. I have nothing but great things to say about Good Sam throughout this entire event.
Also the repair shop has diagnosed the issue. The output bearing (connecting transmission to drive train) "disintegrated". Dealing with dealer's power train warranty coverage is not nearly as smooth as good Sam. :)