Axles just slowly twist off (due to internal fractures developing), so no noise is heard. You'll probably find a small splined piece stuck in the diff. Yes, jacking up both rear wheels and turning each in turn will show which is broken.

'99 Disco II
'95 R.R.C. Lwb (Gone...)
'76 Series III Hybrid 109
'70 Rover 3500S (Gone...)