I accidentally put my mini cooper in manual sport mode

I accidentally shifted into manual sport mode on my mini cooper…

So basically I wasn’t paying attention and accidentally shifted into the manual sport mode on my 2007 Mini cooper S. After about 2-3 minutes and some acceleration, I noticed my car was being louder than usual. I pulled over to notice that I wasn’t in drive, so I put it in drive and I drove home. The first 5-7 minutes was ok, but once I was on the highway accelerating to about 70 mph, my car started to vibrate and shake. Then, my acceleration wasn’t working like it normally does. My foot was almost all the way down on the gas and it was not going at the rate that it should be. While in park I noticed that my car still rattles and gives off a deep rumble noise. Did I mess up my car? is this fixable?