There are several things that can cause a clanging noise on your 2004 Toyota. A loose exhaust pipe is the most common cause.
struts and shocks could be bad go to a mechanic and have them checked
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
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
Could be one of a number of things, as it could be in any vehicle.
Check exhaust system (hangers) Check heat shield on catalytic converter
That would be your transmission. It may be slipping, or you may be lossing a gear. Have it checked.
Have vehicle scanned to determine the problem
have it checked you could have bent the axle and the noise would be the bearing
It is a safety-switch noise that does not allow you to put the vehicle in reverse until the vehicle comes to a complete stop. I was told that this is normal (2002-2006), but I do not understand how Honda could release a product that has such a noise.
The starter could grind if the bendix is sticking