So far here is what I have found:
1. Front drivers side spring mount has one of the three bolts missing. Threads are bad, need to chase with tap in order to get the bolt back in.
2. When measuring between center of wheels on drivers side versus same dimension on passenger side there is a 7/8" variance. Passenger side of axle is farther back. Center pin on leafs is bent, looks consistent with out of square axle like Greg said.
3. U bolts on axle are not torqued properly. A couple on passenger side were less than 40 ftlbs, should be 120 ftlbs according to specs I found on Eaton's site. Could these being loose contribute to the bang?
4. All other fasteners, subframe connectors, body mounts, anti-sway bars, were tight.
5. I found no evidence of rotation between the shackles and the axle tube, (looked for fresh scratches, no grease, etc.). There is a pinion bump stop present and as far as I can see there has been no contact between pinion and stop or body.
6. I will check the caltracs preload when I get the car back on the ground. Maybe the right one has no preload and is "slapping" into the front spring mount?
For what it's worth. This has happened before but never so violently and it's only been me in the car. Last night when this happened there were three of us in the car; two in front and one in back. The person in back did not feel anything with his posterior NVH receptor. In case it matters: driver 215lbs, front passenger about 170lbs, rear passenger (sat behind driver) 280lbs.
Thank you all so much for your help. It's the people that make this site so wonderful!
Here is a picture of the right rear from in front of the axle.