Strange noises after backing up and idle skipping

When I'm sitting idle at a red light, I've felt a "skipping" jump on occasion, sometimes just once, sometimes several times in succession. On occasion, I have also felt a slight "pause" when starting to move from idle.

Today, after reversing from a parking spot, I heard a loud noise coming from the passenger rear of the car that lasted for about 10 seconds. The noise resembled something rubbing against the body and/or the wheel. I initially thought I had something stuck between the wheel/axle and the body of the car, so I stopped the car and walked around the car for a visual inspection. I didn't see anything out of the ordinary, so I began pulling forward through the parking lot and did not hear any noise afterwards.

Are these things I should worry about and take my car immediately to a mechanic, or should I continue to monitor