There are several things that can cause a clanging noise on your 2004 Toyota. A loose exhaust pipe is the most common cause.
Possibly the sway bar bushings?
Check exhaust system (hangers) Check heat shield on catalytic converter
What is the roaring noise from a 1999 Toyota Camry XLE at speeds over 35 ? Sounds like it is coming from the rear.
I get knocking & ping noise coming from the fuel injectors
You did not say where the noise was coming from so I will guess and say check the universal joints, one or more may be worn out.
Probably a worn out suspension bushing.
Loud, confused, harsh noise; a loud, continuous, rattling or clanging sound; clamor; roar., To strike with confused or clanging sound; to stun with loud and continued noise; to harass with clamor; as, to din the ears with cries., To utter with a din; to repeat noisily; to ding., To sound with a din; a ding., of Do
remove the belt if it still clanks major motor problems
struts and shocks could be bad go to a mechanic and have them checked
Loud, confused, harsh noise; a loud, continuous, rattling or clanging sound; clamor; roar., To strike with confused or clanging sound; to stun with loud and continued noise; to harass with clamor; as, to din the ears with cries., To utter with a din; to repeat noisily; to ding., To sound with a din; a ding., of Do
Since you do not have manual hub differtials you are hearing the electric motor dis-engaging the front diff from the drive shafts and trany...
Hydraulic lifters are nonadjustable. Chances are the noise is coming from play in rocker arm, or ignition out of time. If you are sure it is the lifter, then it must be replaced.