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Take the brakes apart & clean up all rust,check everything out
& lube things when putting back together
Have to do that at least once a year
Don't need machining every year or new pads, but have to knock
down the edge on the rotors & get rid of rust & lube (anti-seize on
everything but inside the caliper slide bolts, there you use the synthetic caliper lube
The clunk could be worn drive axle joints or drive shaft joints
When your on the brakes or hit bumps your loading things differently & the clunk goes away
Check your top shock absorber and/or strut mounts, they may have been hammered by the many bumps and stripped out the mounting hardware on top just an eighth of an inch which will cause super loud bangs as that side wobbles up and down and hits into the Body Metal. These can get dangerous if left loose at all, my old boss said his Taurus would change lanes by itself at 120 Km/hr in the rain!
very common problem is the sway bay end links that attach to the strut from the sway bar. They sound like a light chuckling knock over bumps. The bushings that hold the subframe up wear or the bolts loosed due to the bushings wearing. usually the rear ones The bushings are 2 piece ,upper and lower Tighten with 18mm socket
The noise is caused by the axle button being worn out, this lets the axle move back and forth and clunk, this is a unique problem with C clip retained axles, it is a noise issue but will not fail and cause any more damage, in order to fix it you must have the axles pulled and the diff carrier checked for excess wear where the axle retainning C clip rides, if the carrier is ok then replace the axles.