With this situation you will scrub those tires bald in no time.
First off something has either broke or come loose. I would not move it until you find out and are able to be sure the axles are secure. Then you need to get them aligned.
2015 Chevy Silverado 2500HD CC Duramax
2016 Eagle 323LKTS Java
Pull Rite SuperGlide #4100 Hitch w/Mor-Ryde Pin Box