Let Rex guess, you aren't as good at drifting as you thought.
As for the damage:
Unfortunately whats happened is the whole rear section of the chassis has been bent out of square meaning that it will either have to go in for major structural straightening or have the parts swapped into a new shell.
It will definately not be a matter of panhard rod and/or bracket.
A stock Sprinter S-diff is worth about $550 and axles are usually $375 each.