I asked my dealership to look into something maybe being loose under my truck for the exact same reason (and they, too, said they couldn't replicate the condition).
For me, I think it's rear-suspension "rebound" related, but I'm not positive. I've noticed it most when making a turn through an intersection after hitting a dip in the road. It's like medicine ball is slamming against the underside of the truck, and I swear I can hear and FEEL it.
It's not metallic-sounding, right? Is it like a heavy, dull "thud" sound/feel? And you don't ever feel it just driving along down a smooth, straight road, do you?
I hope others chime in on this thread and that we can get to the bottom of it.