Jack frame up as high as you can and let axle droop. Oil drained, sump off, change bolt with locktited new one, clean block/sump mating faces, new gasket (and rtv for 2 little bits iirc) refit sump, refill oil
But if its rattling the chains probably jumped at least, you say 100yds driven? Hopefully the sprocket hasn't completely come off and destroyed bottom end. Check oil filter for metal first, take sump off and check bottom end for damage. Take rocker cover off as well and check in there. If chains come off you'll have had oil starvation.
If chain or sprocket is damaged, the timing chains gotta come off i think cuz there's no split link on the oil pump chain, happy to be corrected tho its been a few years since I was inside a td5 bottom end