[Tannaton]

Hi There, yes a worn joint on the propshaft can cause this noise.

On the non R-Design cars with single exhaust I think you can remove the prop by disconnecting the exhaust front joint only - but after that removing the full exhaust is quite easy (the rear hangers bolt on). That said this method relies on being able to move the exhaust to one side which will be more tricky on the twin exhaust.

You can drive the car without the prop but keep in mind that the stability control systems expect to use AWD in a sticky situation and your insurance company might have a dim view of it.... so if you do so I would suggest for a short period for diagnostic purposes only.