2001 Hyundai Sonata - Ruff Idle and jumps when in gear

I have a 2001 hyundai sonata I purchased with 71000 miles, it's now at 79274 miles, changed the oil on time, tranny flush, A thermostat, and front brakes and rotors, new tires just rotated. I drove the care for 2 hours this morning for errands and never turned it off until I returned home. When I started it again about 30 minutes later I noticed it was shaking more than normall, the steering wheel, the mirrors, and the engine sounded like there was a bad plug, I attempted to back out and it started jumping back, not very hard but it did. So I accelerated back into the drive way and when I did that there was a clunking noise under the hood, after that the engine was louder sounded like water flowing and check engine light came on. All fluids are level, no leaks, not overheating, I don't see any problems with the mounts, but it's hard to see them, and nothing appears broken. Any suggestions? This is the only vehicle I've got.