This morning the engine and the shift got super loud for some reason,On the freeway this morning the CEL turned on and then when you press the gas it doesn’t go.Then when we got home we scanned and it said that the ad blue was too low. So we poured some in the car.And it still drives the same.We tried disconnecting the battery to get it out of limp mode but it’s still in it.We scanned again and got these codes. We loaned the car to relatives and they might’ve ignored the warning for adblue.Either that or it didn’t show the warning. Does anybody know what to do in this situation?

The CEL codes that came up when we scanned

Hit up the diesel section. Lot's more diesel traffic there.

Being low on DEF won't cause the codes you've given.
Per the first code, have you looked at your engine mounts?

I'm sorry, but the title of your post made me laugh. A GL350 won't go when you give it gas? Maybe try giving it diesel? I'm just kidding. But malfunctions after someone borrowed your vehicle does make you wonder. Is there any chance they put a little bit of gasoline in the tank? It might still run, but poorly, depending on the percentage of gasoline in the diesel. I'd recommend a conversation with your relatives about whether or not they put any fuel in it, and if they noticed any malfunctions while driving it. Reading your post reinforces my fears about letting relatives and friends borrow my vehicles. I've done it, and had vehicles returned damaged before.