Any idea what this thud is?

Short clip from the trail this weekend.
Not sure what it was from, just want to make sure nothing is broken.
Driven the truck about 400KM since this happened and drives fine so should be ok. Did plenty more of the trail after in 4lo. 4hi and 4lo still engage fine. Everything seems ok up front.

In the clip you can hear I get out to see why I wasn't moving, did a quick check and didn't see anything on rear diff and in front, although didn't walk around to check really well. Was obviously hanging on something as MTS was active and dash was blinking that it was working but still not sure what it was. I have front, trans, and tcase skids, gas tank skid, and sliders. No damage on rear diff.

Pics of the front CVs which appear fine. I lifted each side today and spun the wheels, no grinding sounds etc.
Really not sure what it was, just hoping nothing is broken. Like I said truck drives fine, engages all gears fine, no vibrations or grinding.

You can see from the video it wasn't much of a climb or anything so really not sure what it was from. I've looked under the truck and can't find anything damaged.

Passenger

Driver


Passenger

Driver

Only thing is that driver CV that I'm not sure about. Everything feels ok doesn't feel loose or anything and wheel spins fine when in the air no grinding sounds etc.
In 4hi didn't hear anything driving up and down the street.
Don't have enough jacks to get all four wheels off and spin but when in 4hi on the road it definitely feels like 4x4 is on, didn't want to turn but with you can definitely feel its on and giving a lot of fight in turning.
I feel I'm just being paranoid and worrying when it was likely just me being stuck on something and as soon as I did get free it was skid or sliders hitting or maybe bottoming out on suspension. New to IFS off roading so just concerned with the front basically as my previous trail rig was a jeep, and given it was bought as winter beater then turned into trail I didn't really care about breaking it as it wasn't my daily driver.
So given everything seems fine and drives fine am I just being paranoid and worried and next time I get hung like that just do a better walk around. Or should I be getting this checked out a lot better? Like I said I've driven close to 400km if not more since this happened, mix of city and highway speeds up to 125km/h with no problems or anything. Also did another 3-4 hours of trail after this with no problems.

And to verify there are no oil leaks etc found anywhere, any wet spots you see are just water as I just hosed it down to remove all the loose dirt.
https://youtu.be/m8CaqHtoViI