Cranks but doesn't start, died while driving.

Tried putting back into 2wd putting truck in neutral. Shifted into drive truck will not move in any gear.Makes grinding noise when put back in park.

Hole caused in case by oil pump

Cause hole in case

The light only comes on when I crank up the truck. I've had the alternator checked at the local parts store and according to them it's operating ok and the battery was replaced after it failed. What is going on and is it a serious problem and is there a way to reset the warning light if that's all that's wrong.

4wd service message, I replaced the switch, cleaned the grounds on the frame under drivers side.
Is there anyway to troubleshoot this problem?
When that message is on, you can't shift selector switch.
I read somewhere that GM had bad software in the 4wd computer module that is separate from the main computer.

Silverado 4x4
Labor only estimate for:
Replace front rotors and pads
Replace rear dust shields, one e-brake adjuster, one caliper, pads, rotors, e-brake shoes. All comes apart easily.

And down by itself after a min or so it does fine the truck doesn't have a muffler or tailpipe could this be causing that and I noticed that sometimes when it's doing up and down it will almost die and the volt gauge goes way down