I forgot to mention that when the sound starts (as if the gears are skipping, or something like that, it's really loud) and when that sound starts I have to brake in place and then the sound disappears and when I start again everything is normal, it happens when I drive in H, it seems that the sound is coming from between the rear differential and the gear shifter, but I'm not sure.
Sometimes it is not heard for a long time, I can drive for a couple of hours and it is not heard and then suddenly that terrible sound appears.