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That’s a bit concerning especially on a test drive. A faint clunk in the rear could be something as simple as a loose shock mount or even just a normal noise from the suspension settling. But if the dealership mechanic couldn’t pinpoint it I’d be a little hesitant. If you really want the ID.4, I’d recommend test-driving another unit to see if the noise happens again, just to rule out a one-off issue with that specific car.