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feels like the axel is loose, what are knckles in the rear
If your rear axle feels loose, then I would carefully inspect the rear axle control arms, rear control arm bushings and rear struts ASAP.
Sounds like your lower control arm bushing is worn,
Q&A > Lexus > 1990 Lexus LS400
Common Problems > Lexus LS400
Q&A > Lexus > 1995 Lexus LS400