2005 Tahoe here - I’m chasing the exact same noise, under the same conditions. It never does it just driving slow around town, but after 2-3 miles of highway speed (55-65) - it warms up…and then clunk - pop…off it goes. I think it must be something in the transfer case. I’ve checked and replaced all the u-joints, shocks, CV axles, etc etc. I’ve been under the truck often, wiggling and checking everything else very carefully. It must be driveline related. Truck is at 160k miles and in fairly good condition, no real rust. Frustrating, but I think a new case is the next step. :/
Ps. I had the same issue with the Service 4WD, it was a simple fix, the encoder motor position ring. Did it 2 years ago and never had a problem since.