I would suggest getting a serious look underneath. Traditional techniques. Including levering just about everything.
Is the exhaust knocking the body?
This might be a total red herring. But. I had similar noises on a 740. On that car there was some sort of stabilising link arm from the bodywork to the diff. The bolt securing the arm to the diff had sheared off. Had to be drilled out. Bovver.
Good luck.
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