Slight “thud” when slowing down and hitting gas?

I have a new to me 2017 GX460 98k miles. When I’m at higher speeds no issues but let’s say I’m at 70 and slow down to speeds around 30-50mph and press the gas I hear a slight “thud”. It’s much less if I ease in to the gas very slowly.

No issues shifting or thuds from gears.

Anyone have a similar issue? Googling seems to point me to greasing driveshaft.