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This is in the realm of DIY but you will definitely need a spring compressor if this is in fact a strut-type assembly. The coil springs are under a great deal of tension and disassembling them without the compressor can be lethal.
It is known that Toyota parts and service can be costly but if you intend on doing your own service, I highly recommend you invest ~$25 in a service manual for your car.
These can be had on line:
Avalon Service manual
or at auto parts stores.
Your noise is most likely worn out 'rear strut support mounts'.
On top of the rear struts, there is a metal plate that locates the top of the strut to the body, Inside this plate is a centering device that holds the top of the strut vertically secure. As the mount wears, the strut is no longer vertically secure, and allow the tip if the strut to hit the inside edge of the metal plate.
We change these parts quite often, this is a very common occurance, and is easily rectified.
What you will need to do: Have a qualified technican remove the rear strut assemblies, disassemble them, and replace the top support mounts.
We do not recommend that you try this yourself, if you do not have the required experience, and the necessary tool (a strut coil-spring compresser). If you try to remove the coil spring from the strut assembly without the proper tools, you could very well injure yourself. The coil spring is under a significent amount of tension.
This is a job best left to a professional machanic who has the proper tools.
Lift up on the front edge of the bottom cushion, to defeat the clips that holds it down. Then lift out the entire bottom cushion. Next, remove the bolts that holds the bottoms of the back seats to the rear metal. Then lift the seat backs up and out. FInally, pull and remove the rear interior trims.
II have found over the years that a company called MONROE makes a very high quality strut (around $50 each) and have never had a problem with them, they come in a gas charged strut cartriage and this is what u want, there are others out there but many like BILSTIEN that ride really rough and cost around $100 each
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