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I'm probably talking out of my ass but that looks like an issue with the trans / engine mounts. Maybe the diff mounts. Not sure that much movement is normal on the driveshaft, and the noise follows.
Also this is the best camera setup / attempt at supplying evidence for a mysterious noise that I have ever seen. Everyone who makes a "mysterious noise" post should be directed here to see how it's done. Surely someone can give you a definitive diagnosis.
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