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Could be that you just have a bad sensor on that side they need to be replaced I don't know if there is anybody that can check the sensor itself that is usually the cheapest place to start in that situation
Its probably the shock/ strut.. i never worked on one of them cars but usually you can take rear shock/strut out through back seat or trunk. You have buy or rent special tool to keep the spring compressed when taking the strut apart.
The movement is caused by a loose suspension. Deflated parts will not control body roll and without cushion suspension parts can be bent.
Having to replace only a defective broken part is cheaper than guessing. The air suspension has a diagnostic feature which can pinpoint bad components. A high end diagnostic scanner can hook up to the suspension and tell you what needs replacing.
If only a component needs replacing the cost can be low. Even the air bags can be patched or some will interface with cheaper Ford air suspension. But if things are too expensive some people replace the suspension with regular coil springs. You lose a lot, load leveling and superior ride.
You might Websearch for videos about these repairs.
if you have lifted the front suspension by 3 inches then that is 3 inches less travel for the shocky piston to move when the suspension goes down. You have probably damaged the piston and shaft of the shocky. Replace with longer travel shockys.
The sound could be a weathered leaf spring that is making noise when the suspension travels up and down. You can go to a self car wash and use the pressure washer there to spray the undercarriage down blowing out any loose dirt and gravel from the rear springs and then when it has dried put a little bit of wd40 onto the leaf springs where they meet or if its an independent suspension where the coil meets with another at the top and bottom then drive to see if it goes away. If it does then it would be a good idea to look into replacing the springs as they are most likely worn.
I had a problem with my '98 Deville. I had a lot of issues with the air shocks and all the other electronic stuff that goes with that. I called the dealer, and they wanted $3500 to fix it!!! I found www.Strutmasters.com and they converted my car to a "passive" suspension, which bypassed that whole computer thing. Now I have a lifetime warranty, and I am VERY satisfied with the ride. The best part is that it only cost $800 and I got all new suspension! I highly recommend them for your vehicle!