Strange Noise in Reverse

Hey everyone, I just recently bought a an 02 with 142k miles. The other day, it made a strange scraping/grinding noise earlier when in reverse. There was also a loud and constant beep along with the brake system warning light, the “vsc trac” light, and the “trac off” light. It only happened once. I turned the car off and came to it half an hour later and it didn’t make any sound in reverse, so it’s only happened once. While on the way to drop it off at the mechanic, the check engine light went off along with the “vsc trac” and the “trac off” light. I’ve attached the video of the the car with the issue. Would someone be able to inform me with any ideas of what it could be?
Thanks

https://www.dropbox.com/s/rtv4qmxvzv5awew/FullSizeRender.MOV?dl=0

 

You need to post the codes from the Check Engine Light.

I urge you to buy a cheap code reader. You will need it, otherwise you will be paying a lot of Mechanic diagnostic fees. 20 year old antique cars break often.

 

What I would definitely get is a transmission conditioner as a precaution flush all fluids. Link for justice brothers below. Just saw your video torque converter first guess. Also I have seen vsc trac off from everything from thermostat to progressive snap shot being plugged into obd2. Those are really standard lights with any problem. Bad thing is 4wd won’t work usually with those present. Let us know what mechanic says

https://justicebrothers.com/product...-products/automatic-transmission-conditioner/