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It sounds like one of the drive shaft universal joints is bad .
Take a close look at the u-joints to see if there is a brownish color on them , look for the grease firings and give it a good grease job.
If the noise does not go away ,remove the drive shaft and turn the u-joints by hand to see if there is drag on any of them, replace as needed.
Check both drive shafts in case this is a 4x4 vehicle .
Let me know.
Thank you very much.
Is the serpentine belt in good conditions , I mean is there any cracks or is it dry ?
Is this a 4 or v6 engine ?
Can you remove the belt and run the engine to see if noise goes away and once you are there ,spin all the pulleys to see if any of them makes noise or has a drag.