I have 2005 Cadillac SRX 86,000 Miles. I hear a grinding noise when I accelerate and feel a bump when driving on hyway, No sound when coasting, stoping or ideling which to me would eliminate engine or brakes.

Grinding on acceleration, rhythmic thump on the highway... might be a bad u-joint in a CV shaft or rear drive shaft. Put the transmission in neutral, put blocks in front of the front wheels jack up the back end of the vehicle and put jackstands under the frame (do not rely on the jack alone to hold it up!). Turn the rear wheels by hand while listening and feeling for slop or roughness. Crawl under the vehicle and check for play in the drive shaft bearings, then rotate the drive shaft by hand to check for rough bearings in the u-joints. Inspect the fender wells and suspension linkage for foreign objects that may be rubbing or bumping on the wheels. Inspect the tires for uneven wear, incipient blowouts (blisters) or other problems.
If you don't find anything in the rear end, lower the vehicle, block the rear wheels, jack up the front, and repeat the check on the front wheels.
Check your transmission fluid as directed in the owner's manual. It should be at the proper level and clean, with no burned odor. If there is a problem with the transmission fluid, the noise could be coming from the transmission.