Roaring sound and vibration when accelerating and rattling underneath?

My first thought is reading your post is that it may be the catalytic converter when they start going bad, they have a tendence to start to clog up and cut down on your exhaust. The rattling you hear may be the converter coming loose and rattling. If you drive a lot at night, try something. After driving and the engine is warm look under the car and see if the converter has a red glow. That would tell your converter is clogging up. When they start to go bad, they will cut down on the exhaust, cutting down on the power. There may be other things but that is where I would start looking.

It does sound like a bearing hub is going out which is common, does it change pitch when you steering car right to left? If so, this is a clear indication the bearing hubs are bad. Here is how you can change them out in the images below. Also, I found a video for you.

https://youtu.be/x_qTpbkWXQA

Here is the part on Amazon both for $86.00:

https://amzn.to/3Bcn2eO

Check out the images (below). Please let us know what happens.

my 1st thought was the bearings but then i looked more online it says that it could be an exhaust leak my check engine light is on and Orielly's says it's the 02 sensor, but they don't make noise like this, do they?

just to eliminate the converter. When the car is cold use a hammer and gently tap the converter. If it is the converter makes a rattling sound inside the converter. With it rattling going over bumps and now the O2 sensor the exhaust might not be getting clogged up. That would cause the loss of power reaching normal speed and going up a hill. the converter rattles when they go bad from breaking up inside.