QX4 transmission issue ?

[Daved25]

I need help determining what issue I have with my 2002 qx4. I have 160k on it and have develop a problem in what think could be transmission but certainly drive train. Recently I have developed a clunk when driving. When it happens it feels like i drove over a rock and It feels like it is coming from the back of the vehicle. At one point I lost power as if transmission was slipping. I got it towed but at that point it was drivable. I have been driving it and the clunk continues to happen every so often. Happens at various speeds. Fluid was checked and is good. Good coloration. Any ideas?

[NismoPick]

Did you read this?

2001-qx4-rear-clunk-thud-stop-and-go-only-t575925.html