I had this exact problem on an ef7. Took me a while to locate the noise, only came on after 30 sec of driving and disappeared under braking. It's possibly a missing clip for the rear brake pad to sit in there nicely, it could be moving around while driving.
Was it knocking previously?
Did you install anything rescently and noticed knocking afterwards?
Could be alot of things.
Bad shock/coilover
Rear endlinks or sway bar bushings (if equipped with swaybar)
Lose wheel nuts? (Happened to me a few times )
Wheel bearing taking a dump?
I had a similar knock in my rex, mainly on hard turns and alot more distinct on right turns. As others have said it was my exhaust hitting the sway. Which i merely moved, and resecured. All good. But without hearing the knock it could be anything.
Check you end links or sway bar bushes, if you had damaged trailing arms, the car would be all over the place, could also be your shocks too (remember the car isn't new, it's over 15 years old) and parts do have a lifespan and doesn't last forever
I had the same problem as well when I had the ef7, knocking was because of worm and damaged rear endlinks, they are a cheap part to buy, but a pain in the butt to replace (again, old age causes bolts and nuts to seize underbody)
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