It's most likely your driveshaft carrier bearing. There's a bearing in the center that holds the center of the driveshaft in place. Try removing the bolts and adding a few washers between the bracket and the truck so that it drops the bracket down a little. Did it solve the problem? If so, then you can either leave it like that or you can buy a fabbed bracket that will be a lot safer to use.
This guy builds a lot of stuff for Tacos but is now doing Tundra stuff as well. Do a search there for "carrier bearing bracket" and it along with the price will show. He builds each one to order so if you want it dropped a little more for a lift, let him know and he will build it to the drop you want. I also attached a picture of one installed.
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