We just had a visual health check on our 2013 Lexus CT for the same issue, weird clunking sounds coming from the front when driving. I thought it was suspension related, turned out to be a steering shaft. Lexus technician made a video and replicated the sound by turning the steering wheel back and forth.
Bill came to just shy of £900, though it was advisory by Lexus and not really necessary.
Money well spent 🙂