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Your car has no "rear end" as people used to call them. The "rear end" was a set of gears on the old rear wheel drive vehicles that put power to the back wheels. Since you have a front wheel drive car, the problem you have is much easier to diagnose and repair. You very likely have a bad rear wheel bearing or two on one side. A way to tell is to spin the rear wheels one at a time and compare how much noise they make. The bad one should be noisy. I cannot think of any easy way to spin the rear wheels one at a time. Perhaps using a "mechanic's stethoscope" might help. Raise the car safely up in the air, crawl under the car, and place a long screwdriver tip against the center of the inside of the axle under the car where the wheel bearing are. If you can't imagine where to put the screwdriver, get someone who knows to help you. Put the handle in to your ear, and have someone spin the wheel by hand. One should be noisier than the other. Be blessed.
that is your rear end it will lock up on you especially on the freeway at speed you need to address this immediatly, these have a funky locking rear end, you can get an upgraded assembly for about 500 dollars plus installation
drive shaft u-joints will make clanking sound putting in gear or have bad vibration to it . it can be pion bearing in rear-end it will do what you are saying . but check driveshaft , sometimes you can see if drive shaft has play in it move side to side .