I always take a flashlight with me and get close and look at the rubber gasket around the bearing cap, then twist the shaft (a couple of times a year). If you can see any movement at the seal, chances are, the needle bearings have play and aren´t long for this world.
A sure tip off, of a dry bearing, is a coating of rust dust near the seal for the bearing caps.
The thunk thunk thunk when your turning a corner, means you didn´t catch the front axle U joints soon enough or the clang or thunk when you put it in gear often means the driveshaft U-joints are worn. Fronts will often vibrate and will also often thunk when putting the auto in gear.
Some differentials (mostly Chrysler corp.) clang when putting the auto in gear, I´ve had a couple that did this, spent untold hours trying to find the cause, after a hundred thousand miles or so, figured it wasn´t really hurting anything and learned to ignore it.