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Hmm... don't know what to say about the banging and rubbing from the rear end, absent more info, but the first thing you should do is look around back there and be sure something's not wrapped around the driveshaft or an axle. If that's all it is, you're in luck. As to the rumble, that could be wheel bearings going bad. They make a roar that gets louder with speed.
The best test of a transmission is driving: See that it shifts smoothly and properly. Next, check the the fluid. If it looks and smells burnt, that's bad. Fluid and filter changes are the best preventive maintenance. If your car doesn't have a supplemental ATF filter and cooler, these would be a good investment. I'm sure a trained eye can see internal indicators as to a tranny's condition, but don't know if the labor involved would be money well spent.
Good luck,
dcb
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