Probably a worn out suspension bushing.
struts and shocks could be bad go to a mechanic and have them checked
Bumps in the road.
There are several things that can cause a clanging noise on your 2004 Toyota. A loose exhaust pipe is the most common cause.
That would be your transmission. It may be slipping, or you may be lossing a gear. Have it checked.
Loud, confused, harsh noise; a loud, continuous, rattling or clanging sound; clamor; roar., To strike with confused or clanging sound; to stun with loud and continued noise; to harass with clamor; as, to din the ears with cries., To utter with a din; to repeat noisily; to ding., To sound with a din; a ding., of Do
remove the belt if it still clanks major motor problems
Loud, confused, harsh noise; a loud, continuous, rattling or clanging sound; clamor; roar., To strike with confused or clanging sound; to stun with loud and continued noise; to harass with clamor; as, to din the ears with cries., To utter with a din; to repeat noisily; to ding., To sound with a din; a ding., of Do
Possibly a broken shock or bad stabilizer bushings
check your stabilizer links as well as your sway bar bushings. the sway bar bushings might look ok but what happens is the hole gets egg shapped causes clunkinking noise s going over bumps. just had the same problem in my shop. 2002 dodge caravan.
You need struts
Check exhaust system (hangers) Check heat shield on catalytic converter
Most likely a bad motor mount, bad U-Joint / CV Joint - try to pay attention to make sure the transmission is 'shifting' when it happens; that will help you find the problem.