I just barely overcame a similar issue to this where 2WD and 4WD had identical noises coming from what sounded like a rotational banging from the front passenger side of the vehicle.
The first issue was a major play in the driver's side front diff clamshell needle bearing. I compared both of the 4Runners at my house (both have a front locker engaged, so it will likely be a little more severe than what you may get).
Here is what the significantly worn one sounded and looked like with only rotating the driveshaft
Shared album - Travis - Google Photos
Here is what the second one that wasn't nearly as worn looked like
Shared album - Travis - Google Photos
Replacing the needle bearing with the ECGS solid bushing made it completely solid. It also removed half of my clunking noise.
The thing that ended up completely solving the banging issue was taking the tires off and finding a hot spot (that burnt me) on the dust shield for the brake. I bent the shroud back with a few choice words and an embarrassingly simple issue was solved.
Edit: I just remembered an issue like this with one of the cars I bought salvaged to rebuild. The steel belt inside the tire separated and gave me a feeling worse than Jeep death wobble while I was driving it.
I chased the entire steering and suspension of the vehicle with no solution to it. If no other fixes end up working, try rotating your tires to see if that moves the problem to the rear of the vehicle.