The knock/thud that occurs when accelerating from stop may be the transfer case if it's got the QTII or QDII. Replacing the oil with ATF +4 fixed mine. It's an easy DIY, and lots of info out there on what to do.
PS I recognize you indicate it only happens when in your driveway, so that may rule this out. But sometimes things occur all the time and we only notice it in our driveway because we are able to focus in our driveways.
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