Loud banging noise coming from rear end when transmission shifts on 2005 Kia Sorento

Recently my SUV has started making a loud clunking or banging sound in the rear end when the vehicle shifts. The transmission does not slip when going through the shift points but the banging noise is very concerning. The SUV has 107 thousand miles on it.

Asked by for the 2005 Kia Sorento
I am not a mechanic...however, recently had a similar problem, and it was the u-joint. good luck