One wheel jerking is nothing more than unevenly adjusted brakes, it being a bit tight on the jerking side. If that side spins by hand easily, maybe the other side is too slack. Testing the car on stands produces these effects because the drive goes to the wheel of least resistance such is the nature of a differential operation, and also is the reason one wheel will spin when in mud. Limit slip diffs many years later got over the problem.
The noise you hear just rear of the universal might be the source of your problem.
There is a bush here which is prone to wear because it gets precious little lubrication.
Remove the universal and see if the propeller shaft can be moved up and down. If so it is in need of attention, even if it proves to not be the source of the noise.
A thumping is hard to diagnose, but have you checked the obvious like collapsed wheel bearings.
Take the back cover off the diff banjo and look inside for anything adrift, often indicated by metal in the oil at draining. Lever the gears up and down with a screwdriver to check for any play.If there is any then you had better seek help from a differential expert. You will also see how the diff works if you turn one wheel slowly by hand while locking the other one with a chock. Louis Renault who invented it was indeed very clever.
Good luck.
Geoff.