I will bet that 90% of all the bumping is the slip yoke on the front of the rear drive shaft.
Every time you come to a stop or accelerate, the body of the truck will respond to the movement. It dives forward when stopping and rocks backward when accelerating.
The rear axle housing is attached to the body by leaf springs that are fixed in the front and hanging by shackles in the rear to allow the housing to rotate as the suspension goes up and down.
If you could have a video camera looking at the yoke from the side, you would see it moving in and out every time you hit a bump, or speed up or slow down. When coming to a hard stop, it moves the farthest. If it is sticking, it will stay in the compressed position as you come to a stop, holding the brake. Sometimes, as soon as you relax the brakes, it is enough torque released from the splines, that it will slip back to the relaxed position. Otherwise acceleration will force it to snap loose, as the axle housing, goes to the other extreme of it’s normal fluctuating range of movement.
This action is mostly eliminated by vehicles with coil spring suspension because of the different manner of mounting the axle housing.
Everyone has their own idea as to how much grease these yokes should have. From the factory, they depend on ATF from the trans/transfer case to keep them lubricated. After years and millions of cycles of sliding in and out, they can dry out or become worn. It kind of depends on the environment they have been in and even how rough the roads have been during their life. Lots of variables.
The average owner is not willing to go through the hassle of pulling the drive shaft out and cleaning and greasing the tail shaft. In extreme case where grease does not solve the problem, the new improved yoke may be a good idea,
but the tail shaft itself, should also to be considered as half the problem from the stand point of wear.
If any other suspension components have been moving enough to cause the thumping, there should be some evidence of that movement. Look closely before getting out the breaker bar to tighten bolts. Many of the bolts holding things together back there are likely to break off, before they will turn if they have the normal amount of corrosion.
My experience has been that the thump occurs as the brakes are released, after stopping. Sometimes you can eliminate the drive shaft spline from the issue if you slip the trans into neutral before stopping. That should release the torque from the spline while stopping.
Just my .02…………………