Assuming that you mean a 'knocking' sound from your suspension and not your engine, you should check the following:
1. rear engine mount might be damaged
2. you may have weakened suspension components: e.g. rack ends, or ball joints. This can be tested if you hear the same sound when traversing uneven terrain.
3. Could be something wrong with your rear differential, such as work components. This would create an artificial 'slack' in the gears, which would result in a 'knocking sound' when changing direction. Your mechanic would have to check this for you.
Depending on where the noise is coming from you may want to start with checking motor and transmission mounts. Check u-joints for play and front end bushings. The torque just going from forward to reverse even with the brakes held is enough to cause movement from worn parts.
SOURCE: 2005 Toyota Tacoma
Without looking at it, you may have one or more of the following:
Rust on the inside edge of the rotor (most common)
Worn front brake pads
Front wheel bearing problem.
Backing plate (behind rotor) rubbing the rotor
These are the most common causes, you can see 1,2 & 4 with the wheel off.
Hope this helps.
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