URGENT: Clunking noise in the rear; can I drive 25 miles?

As I was driving on the highway (interstate) out of town this afternoon, a sudden clunking sound started on the rear passenger side of my 2nd Gen Prius (year 2005, over 210,000 miles on it). I drove about 5 more miles with the clunking sound. There is a slight shake along with the clunking sound - less shake when driving at a constant speed and more shake as the Prius was slowing down or coming to a stop at the stop sign or red light.

Here is the audio of the clunking sound. I need to drive 25 miles to get home. Can I drive my Prius 25 miles slowly at 10 to 20 miles per hour and get home tonight? Or is it going to be dangerous to drive 25 miles even at 10 to 20 miles per hour? I will park the Prius after I get home and start reusing Prius after I fix the issue sometime in the next 2 weeks.

Please click at the top right corner to pop-out the recording and use headphones to listen to the clunking sound. For your information, the clunking sound was recorded going at about 10 miles per hour, in a parking lot.

Thank you in advance for your time and any advice you could provide.

 

The video in the OP plays at my end. You may also try to click the pop-out icon at the top right corner, which will open the recording in a new browser - please check, if this method works.

Please let me know if the below recording works for you. It's the same recording; I re-uploaded it onto Google Drive and obtained a new link for the recording.

 

I did not check the tires, but the tires are relatively new. I replaced the old tires (bought this used Prius) with the new ones (all 4 tires) about an year ago. I will go home and jack up the car and see, if I can find something tomorrow. It's night and dark, right now.

Could the problem be related to the inner or outer tie rod or sway bar? I am totally inexperienced and new to this, just throwing out my guesses.

 

Nope, I am still 25 miles away from home. Typing this, from a public library.

Can I go drive 25 miles at 10-20 mph and get home? Please, someone give me some assurance. I don't want to get stranded at night in this cold weather.

By the way, I have a folding bike in the back. If I pedal that one in this cold night weather, it will take 2 and a half to 3 hours to get home. Of course, I will seek the permission of the public library, if I can park the Prius in their parking lot for the night.

 

Wheel lug nuts are tight and fine. Public library closes soon. I am thinking of slowly starting to drive home.

Thank you all for your time and replies.

 

Folks, just got home 25 miles away from the place I started this thread, driving at 23 mph, on an average. There is a slight shake along with the clunking sound - less shake when driving at 23 mph and more shake (than driving at 23 mph) as the Prius was slowing down or coming to a stop at the stop sign or red light.

Thank you all for giving me the assurance and confidence to drive my car home. I was worried something might break at the bottom of the Prius.