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Rear axles are my answer, as well. I had the same thing on my car about 50,000 miles ago (right rear axle). It was the boot around the joint getting caught in the gears. I replaced the axle (you can go with new or rebuilt). Now it's happening in the left rear axle. It'll go along fine for a while then start in with the clapping noise. Once I stop and it gets unstuck, it's fine again for a little while then starts clapping again. It only happens on long trips with extended drive periods. Annoying and mysterious, if you aren't sure what the heck it is!
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-- Jason
1995 E320 Wagon
1972 280SE 4.5
1999 Land Rover Discovery Series II
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