Perhaps there’s a nail/rock/some_object which is lodged in the tire and everytime the tire turns full circle, this thing hits the ground, causing the noise.
OR,
maybe the boots on the drive shaft (which cover the CV joints) are torn, and the joints are now damaged, causing the joints to clunk as you drive.
Can you narrow the sound to one corner? If it’s the rear wheels then it’s not your drive shaft but if it’s your front wheels, then it could be a drive shaft problem.