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You haven't said what make and model of car it is.
On a rear wheel drive car a worn universal joint in the driveshaft (propshaft) can cause the symptoms you describe. It's sometimes referred to as a 'yoke'.
Wear causes the universal joint/propshaft to be out of line/balance and causes the vibration when the car is moving. Another symptom is a 'clunk' when the car engages gear. That clunk noise is also caused by wear.
You can check it quite easily. get underneath the car, grip the propshaft and try and turn it clockwise/anti clockwise. If there's any movement - it's worn.
if you don`t have a scan tool capable of performing relearn procedure then you will have to drive the car under all conditions from cold to hot and short to long distances as well under different throttle conditions. etc, idle cruise acceleration and hard acceleration.
Ok, that helps well these cars are known for the control arms bushings to collapse and and let the controlarm make contact witht he craddle this causes the clunking noise. it can also attribute to the hard to turn condition but this is usually caused by a rack and pinion. Hope this helps good luck
An estimate for repair cannot be accurately made based upon this limited amount of information. The clunk could be caused by a number of different causes from bad fuel injectors, transmission in need of servicing to loose or broken engine mounts. Sorry, more information is necessary to render a qualified opinion. Correct year - 2000 ??, current mileage ??, vehicle history regarding accidents and/or maintenance, etc.
Is the clunk noticed as soon as the brake pedal is released? Your brake shoes engage in the rear drum when the brake pedal is pressed and then release as the brake pedal is released. Your shoes may be worn and might be "hanging up" for a brief period, that would make a clunk sound your describing
inner joints a plunging joints have problems acceleration jolts from a dead stop... the outer rezzepa joint clicks usually when turning thats the balls falling out trunion..... not usually clunking ... possible wheel bearings they are pressed in on front wheel drives... or even a tranny mount maybe ...it almost sounds like somethings loose ...its hard to diagnos online..srry i need more info about the symptoms...
If not the transmission, check the engine cradle isolators - the engine/transmission cradle could be moving laterally under heavy load causing something to bang on the frame. If the knocking is repetitive, this can also occur with worn out drive axles.