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I had a similar issue - car would only make noise when under a load and not all the time. When I changed my rear axle (whole piece - two cv's and the axle), not only did the noise go away but the transmission also got quieter.
I also had a similar noise in my 944 however, in this case, it turned out to be the emergency brake which had a broken spring.
It's hard to tell from your video but my bet is on the CV's. Check to see if you have a torn boot. It doesn't take long for dirt to get in there and ruin the joint. Also, depending on the mileage, it might need new cv's anyway.
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