Judder

So I have been having this horrible jingle and grind noise in my car, only sometimes though. I got it thrown up on a lift today and they found that the half shaft and hanger were gone. I am not sure of the proper terminology for it. But the bearing and shaft anyways. The bearing dried all out and now there is a ton of movement in the shaft.

What is the proper name for these and what cost am I looking at to replace them? Do I have to replace both the shaft and the housing, or just the bearing and clamp if the shaft has not been damaged. Has anyone else had this problem?

Also what sensor is the one in the pics, I think the shaft might be hitting it, and my ABS light is on.

On top of this my front sway bar links need replacing too. What do you guys reccomend for these. I autocross so something good that will last awhile.







So I believe that I have figured out that this is the intermediate shaft, I just cant seem to find one to buy.