left rear half shaft noise on 2006 Infiniti M35

a loud metallic noise is heard from the left rear wheel area when the shifter is moved from reverse to drive or back to reverse. Does the rear half shafts have u joints or CV joints?

Asked by for the 2006 Infiniti M35
Yes they do and they could make noise like you describe.
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Thanks, I have isolated the problem and have the parts on the way...