I had a similar rear noise on my 08 Urban Runner.
This noise was noticeable when driving relatively slowly over expansion joints or divots in the road (voids in the pavement.....not bumps)
The noise increased incrementally, but became really noticeable after my
SE Oregon deer hunting safari where BLM roads are the worst I've traveled (4.5 hours to go 11 miles)
Originally I thought the noise was associated with the rear brake springs or possibly rattling brake pads. I had a brake expert at Les Schwab inspect and he found nothing out of order. My intent of taking it to Les Schwab was to get proof for the Toyota Techs that there was actually a problem and not just my imagination.
In my frustration, my next step was to have my dealership put it up on a hoist to do an inspection.
Here's what they discovered:
*** Left Rear shock had "fluid misting" on it.
This was indicated by dust which was collecting on the upper shock tube.
This was not visible to me while the rig was on the ground; only after it was lifted on the hoist.
*** Left Rear shock top bushing appeared to be misaligned; sort of "mushed-over" to one side.
Here's what they did:
*** Replaced shock, which included new bushings.
Not sure if the noise was associated with the shock OR the bushing.
Sorry, no pics. The Tech was too fast for me.
Update: My rear-end noise fixation is is starting to whisper softy in my ear, "I'm back". What's really strange is that when the Tech took me for a drive immediately after he replaced the shock, I didn't hear anything.
Now, I'm starting to hear a faint thump-knock noise again. My "fixation" is now on the XREAS system. Could it be that when this hydraulic shock system is disconnected there is a small amount of fluid lost and this introduces air, which in turn makes this noise??? Thinking back in time, I first noticed this noise not too long after having my Cornfed front lift kit installed in which the XREAS lines were disconnected.
The other culprit just may be other noisy rear bushings, but how do you convince the Toyota Techs that they need replacing, unless they're really loose or, as in my case, misaligned.
Anyway, as new discoveries happen, I'll post.