RepairPal Certified shops can diagnose and repair your 2002 Honda Odyssey. They provide transparent pricing with a minimum 12-month or 12,000-mile warranty on repairs and services.
Probably driveline related like a rear geat or driveshaft. A complete hands-on inspection is needed.
Use this link to find a good shop near you.
https://repairpal.com/repair-shops
Alex