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It sounds to me like axle wrap. Or it could be you need to grease your slip joint in the back of the drive shaft just before your rear dif. If your leafs springs are good and not worn out, then grease the slip joint. I had the same problem and that was what fixed it.

This is what is called axle wrap. Your leaf springs are worn out and when you stop or go it will clunk. You just need to get new leaf springs. Every thing else should be fine

Love 1st Gen Tacomas