As with Frank, it is most likely to be a U-joint, either worn or with flange bolts loose. This should be checked immediately (before further driving) and if this is the case rectified. You definitely do not want a U-joint letting go while driving. Particularly if it is the one at the rear of the front shaft (which is most likely, as I seem to remember hearing that the aircon condensed water drips onto it) this will probably cause major damage to the gearbox, transfer case and bodywork, and could cause injury if it penetrates the floor.
There are other possibilities, and I would also check for loose wheels.
John
John
JDNSW
1986 110 County 3.9 diesel
1970 2a 109 2.25 petrol
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