should see some liquid on the ground if its cracked
Absolutely. The scenario that I have outlined is probably the worst case, but your description is reminiscent of my diff failure.
1. Does the sound change according to road speed or engine speed? This will localise the car sub-system that is faulty. Road Speed is everything from the gearbox to the wheels. Engine speed is everything from the clutch to the engine (including the exhaust).
2. If road speed, does it change when you corner, brake, accelerate or cruise?
3. If engine speed, does it change when you rev the car out of gear (standing with bonnet open, head in engine bay, using direct hand-throttle connection)? Or does it change according to engine load - 4th gear when you should be in 2nd, on the overrun (using the engine to brake when shifting down)?
4. If the sound changes when you corner, wheel bearings are the first likely item. You will tell which side because when that side gets light in a corner, it will stop making noise. Other causes could be something knocking/touching the drivetrain (like your exhaust due to a broken rubber).
5. Acceleration - gearbox/diff. Sometimes clutch.
6. Deceleration, usually brakes.
7. On the overrun, exhaust shielding or clutch.
8. Under load, engine - possibly pre-detonation.
9. On the cruise - NFI.
Work through these and get back to us.
I've never heard of the shift linkages rattling as suggested, but that does not mean it couldn't happen.