Just an update if anyone is interested
Car was booked in to Tesla today, they had a look and replicated the issue so that's a good start, They physically inspected the rear suspension and visually they could not see anything wrong so they going to clean the rear hubs and apply paste to the drive shafts and if that did not solve the issue then new rear shock absorbers for the car.
So they did cleaning, applied the paste, they did a test drive and said they cant hear the noise any more so im like great, on my drive back home and guess what problem is back.
Messaged the SC through the app and they have now created a new SC visit with new rear shocks and link bars, lucky i have 1.5k miles left before base warranty runs out so will be looking at a 3rd party warranty rather than Tesla's extended warranty as that just excludes the big hitting items like suspension