Hard to tell from the video. I would recommend chocking the front tires, putting the rear axle on jack stands with the rear tires not touching the ground, then trying to replicate the noise while trying to locate the source of the noise. A mechanics stethoscope or screwdriver/prybar is helpful in isolating the noise as well.2000 Toyota 4Runner v6 2wd
Been having a similar issue but at freeway speed. When letting off gas at 55mph+ it’s like a hum/groan/grind noise sounds like a mix of all 3. Could feel it on the driver floorboard. Also noise is present when VERY lightly pressing gas at freeway you have to hit the sweet spot and the noise stay consistent. I have two videos one is when letting off gas and the other is holding the gas very lightly. So I’ve already changed transmission mount because it was bad. Rebalanced driveshaft because it was missing a weight which helped the trans mount go bad from shaking. New u joints. Supposedly previous owner redid rear diff maybe didn’t do it good idk. So I’m thinking the bad trans mount and driveshaft made something bad in the trans by driving it when driveshaft was out of balance and bad trans mount? I used stethoscope and it does sound louder near output of trans where driveshaft slip yolk goes but it’s hard to tell noise can still travel from rear diff. I think it maybe be trans don’t I don’t want time and money getting one and it’s not I want to make sure first. Here’s link to both videos.
00 4Runner Groan/grind/hum when letting off gas freeway speed - YouTube
00 4Runner Steady groan/grind/hum very lightly pressing gas steadily freeway speed - YouTube