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Q: noise under body of car on 2003 Toyota Highlander

Rookie cbe0621eac06868b3efe0d8d1d3611e23c60d3114864ea2ec19a68cfbd3eebab
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.
No car image 94a1663db56199c5353592009e34aaa51078a2469bed068bb8d6f0ba43accf97
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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.
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