Problem with 2008 Ford explorer. Rough, grinding sound & vibrations upon acceleration

You have a broken part inside the transmission, it will need to be torn down and inspected.

Check the heat and dust covers on the exhaust system first.

sounds like possible brake job if the truck didn't drive differently or you can feel light vibrations on the steering wheel...either way could be costly depnding on if you know how to change your brakes yourself :)

Did they not road test for 20 miles or take scan tool &
another person along to look at data

Maybe another few shops until you find some knowlegdable
folks

From what I see on this site that won't happen any time soon

Hate to see you at a dealer,their even worse sometimes

you have wheel bearings failing
the random abs light is the rotor for the sensor touching the sensor head because the wheels are loose on the shaft

Explorers have a bad rep for brake calipers getting stuck. Which in turn can ruin your rotors. Do you hear a grinding noise when you stop or a clicking/squeeking noise when hit your brakes? If so check the brake caliper and the rotors. If the rotors are rough they may need to be turned or purchased new ones. Sounds like a brake caliper to me though. Hope this helps!

SOUND LIKE STOPPED UP FUEL FILTER AND DIRTY FUEL INJECTORS.

HOPE IT'S NOT PISTON SLAP, IF LACK OF MAINTANENCE WAS THE CASE MAY BE INTERNAL DAMAGE OR VALVETRAIN DAMAGE. IF IT RUNS ROUGH MAYBE SOMETHING ON ROTATING ASSY DAMAGED.

Sounds like it should still be at that shop, something is not installed correctly, the cv shafts are splined on each end and must be fully indexed into the transmission (axle). Also they have to be indexed into the wheel bearing housing. Usually the parts will not go back together if they are not indexed correctly, so I would look into the tranaxle for broken pieces, low fluid, etc. Hope this helps.

CHECK YOUR UNIVERSAILS COULD BE WORN OR DRY U NEED TO PULL OUT THE SHAFT TO CHECK PROPLEY CHECK FOR STIFFNESS AND NOTCHEY MOVEMENT