When I shift the transmission into reverse or drive it makes a loud clacking noise

This can be the rear differential causing the noise. To be sure, can you please shoot a quick video with your phone so we can hear the noise? That would be great. You can upload it here with your response. Is the noise coming from the front or rear of the car? Please let us know.

It's coming from the rear.

Have a helper put the car in reverse and then look under the car to see if the driveshaft is spinning while the car is still?

What is this part called on my Kia Sorento 2006?

There is a lower control arm and steering rack inner and outer tie rod, this looks like the front and is this what is making the noise?