Clunk/Grinding sound

Hello all, recently purchased a 2007 SR5 2wd and got a good deal. Knew it would need some TLC, but I’m no pro looking for any ideas on what this may be. Sound happens when going from reverse to drive. Or drive to reverse. And park to drive/reverse. The output shaft seal was leaking, so I replaced it. Plan to drop the pan tomorrow and put in some new ATF. Greased u joints one of them seemed iffy but the one in the back sounded good. Any ideas appreciated, hoping it’s not transmission but we’ll roll with the punches

 

Video with sound. This is taken right where the driveshaft meets the differential


https://youtube.com/shorts/L5cXA78aF88?si=RRYgOuGf_t7C67Iy

 

2007 is 2nd gen, not 1st gen. You may want to post over in the 2nd gen forum: https://www.tundras.com/forums/2nd-gen-tundras-2007-2013.26/

I looked at the video and was, like, "where's the slip yoke?!" then noticed you said it was an '07.

@Bob can probably help you update your username to 2ndgenbeast if you need it.