Anyone have any ideas/suggestions what is causing an occasional thumping sound along with a slight hesitation coming from the rear axle when I brake or accelerate from a dead stop?There are152000 miles on my 4Runner and I've never had any work done on the transmission/rear end/universal.Thanks in advance.

 

Probably won't fix your problem, but it is definitely time to change your tranny fluid and diff fluid.

 

Grease your driveshaft at all the grease fittings also. The shaft has the ability to legenthen or shorten slightly and if the splines that allow this are dry they will stick and make noise rather than slide smoothly like they should.

Could also be play in the rear differential gears. To check that set the parking break, block the wheels, put the tranny or transfer in neutral, try to twist the driveshaft by hand. If it moves more than a tiny bit and a clunk can be heard from inside the diff, you have worn diff gears.