What's this part?

Oh yea I get that. Posted just more so to see if anyone else has/had the issue. I gripped the driveshaft and tried to wiggle/check for play. Didn't seem any other than a small rotation left to right
 
Good, now get that jack and jack stands out and start checking those motor/trans mounts, here's a hint that may help, with the rear tires off the ground, using jack stands of course, car in neutral takes the bind off the drivetrain and makes it possible to find things loose or worn, like a u joint.
 
Steering wheel thumping under accel? Probably bad motor mounts causing the drivers side exhaust to contact the steering shaft.

It does make a popping sound at times also. I do hear a noise what sounds like exhaust rubbing to but only when driving it. Up on a lift there is no noise at all. That's what started this all was that initial noise, then this new one came about
 
You should have some movement of the shifter while revving the motor. I’ve been out of my SN95 since May ‘15 so take it with a grain of salt, but that does look a little bit excessive. If it’s moving that much with no load, imagine how much it’s twisting while driving under hard accel. I’m betting bad motor mounts.
 
Be sure and let us know what you find or if you need more help, too many times people never post what they did to fix their problems and it would help others too when they search for similar problems.
Oh, did you post pics of the car? If not then we will email you a bill. :jester:
 
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No haha here ya go..
20170704_152025.webp
 
I don't think that looks good, when you had it up I would have used a mirror and checked for separation. Maybe now support the tranny and take it off for a real verification