Today I got a warning on my dash”stop vehicle,stop safely,stop engine” while on a short run.stopped the car,but came back, did a bit of googling found the dsc reservoir was low, went to local parts supplier,topped up oil/fluid then 2miles along road,warning came back,had a look under the car and found exhaust and behind fuel tank and around prop shaft area was covered in oil, I presume the bar needs replacing, so my question is if the rear of car body needs lifted to allow access and what would need done to release body from chassis

Done them roadside in the past, but it's not a job for the faint hearted...