You need to replace the fluid in your rear differential. Use Honda Dual-Pump fluid, available from the stealership.
You have a serious problem with the front suspension and need to get it inspected by a professional "straight-away"!
A bad tire can cause your 2002 Honda Civic to jerk while driving. A bad ball joint can also cause this issue.
rear differential got lube? rear wheel bearings?
"Squealing" is usually from the belt or brakes. use belt conditioner to stop a squealing belt.(usually sold at walmart) you can probably figure out how to stop squealing brakes. but if not they need to be replaced. people need to start reading those owners manuals the car comes with.
Replace the belt.
3-4 thousand rpms
The 2002 Honda Insight has 12 valves.
The 2002 Honda Odyssey has 24 valves.
The 2002 Honda Civic has 16 valves.
The 2002 Honda Accord has 16 valves.
The 2002 Honda Odyssey has a V6 engine.
Sounds like your belt may be worn out.