So i got the generic p0700 code. I am experiencing a shudder on deceleration and acceleration and at cruising speeds my transmission will not shift gears and the rpms just climb along with the speed. Any help would be greatly appreciated.

Check the fluid and level?

fluid level is fine, and now im noticing a lot of noise coming from underneath almost like loose bolts bouncing around, not sure if the two are related or not but im gonna take it to the shop on monday.

Pop the plug by the starter and rotate the engine slowly to check the bolts that hold the torque converter to the flex plate. The extra torsional vibration of our CRD engines tends to work the bolts loose. If the bolts have not fallen out, you might try replacing them with new ones if the threads in the converter are not messed up or the flex plate cracked.
The FSM says to put the torque converter bolts in dry, but about when the Euro came to life, the bolts started to have dry blue Loctite on them. Chrysler must have learned something, I guess.
When I replaced my stock converter with a Suncoast, the old bolts had no Loctite on them. Suncoast recommends RED Loctite on new bolts, so I used RED Loctite and the new bolts they supplied.

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2006 Pearl Green CRD
Magnaflow 2 1/2" Cat Back
KJ Extra Leg Room Brackets, Carter Lift Pump, V6 Airbox, ORM
Fuel cooler, Oil Separator, Progard 7
Gauges EGT Boost Trans Temp Oil Pres, Michelin LXT AT2 245 70 R16
7,000# Draw Tight hitch, PML EX Deep Trans Pan
Centrifuge, SunCoast, Transgo, RAM TCM, InMotion Stage 2
Wife's 99 TDI VW Beetle

Sounds like the death rattle of a torque converter. I used to here sounds like that when some ford powerchoke converters were at the end of their lives. The converter death rattle would be noticable in gear at a stop and would quite down as the vehicle pulled away and gathered speed. But if this is not how you notice the noise follow warpped's advise with respect to the flexplate bolts working loose. That was a real problem early on with the 50 series DD's, If so use grade 8 case hardened bolts. Replace all flexplate connecting bolts, not just the missing ones! And use the RED loctite regardless of who's converter is being used. Now if it is the death rattle replace the converter, flush out the cooler lines and cooler and depending on your transmission fluid pressures you may have to replace or rebuild the trans.

Hope it is just loose flexplate bolts!