noise under body of car on 2003 Toyota Highlander

100,000 miles on car. Noise has developed under car. More like a thump while driving, usually going over slight roughness in road. Very annoying now.

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1 answer
Can you tell if it coming from the front, rear or middle of the vehicle? If its the front, it could be strut mounts, a bad shock, or sway bar link ends, if its from the middle or rear it could be a broken exhaust mounting rubber hanger, or damaged/mis-routed exhaust, if it is from the rear it could be suspension related but in any cause it is difficult to guess at a noise without hearing the noise first hand or being able to drive the vehicle.