Jack the left rear tire off the ground. Grab the bottom of the tire and wiggle it laterally to see how much play are in the left rear bearings. If there seems to be a lot of play, compare the amount of play with the right side. There will be some play when cold to allow for heat expansion of the bearings in use.
How many miles are on the car?
Do you notice the noise more in a straight line, or is it also present in a curve?
Are you sure that there are no chaffing marks on the L/H exhaust pipe where it goes over the axle?
What you are describing really sounds like the inboard U-Joint cover rubbing against the exhaust. Your description of it being worse before the dampers were changed and when the boot was full, both of which would allow the rear to squat lower, sounds like a chaffing problem.
Look at the distance between the exhaust and the axle on both sides. They should be the same. If the left side is closer, loosten the three bolt flange and move the pipe some before tightening the flange again to even up the gap.
Also, there is a rubber donut hangar and a steel mandrel welded to the pipe that fits in it right above the U in the pipe. It is hard to see, but if you reach up you will be able to feel it. Have the car on ramps at the rear or jack stands. Do not crawn under the car with it on a jack! The rubber can be worn or the mandrel out of the center hole altogether, allowing the pipe to sag enough to allow the chaffing.