2002 Ford Explorer clunking noise?

I have a 2002 Ford explorer xlt 4.6l v8. It happened about last week where all of the sudden all 4 wheels will randomly click from accelerating from a stop. The 4 wheels won t clunk at the same time. Just random wheels while accelerating. You can feel it in the car and it pops. It isn t just a slight pop. It is a painful clunk sound.

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