a thudding sound whilst going straight can be a bad CV joint, any history of replacing the boots? A thudding sound can also be a bad wheel bearing or loose hub nut (which will destroy the wheel bearing too).
Raise the car on jackstands - rotate the wheel and hold the spring with your index finger and thumb, if you feel it vibrating very gently, the wheel bearing is shot (the spring acts like a tuning fork for you) - for axle, you will need to check for a very miniscule freeplay - its quite hard to describe, its a very very small radial play which tells you that there is clearance between the spider and cup - aka the axle is bad - BUT
not all hope is lost - you can swap the axles from left to right so you end up with fresh metal to be used (axles wear in one direction only) - but being a toyota, you will need to buy new locking circlips for the CV joint because take my guarantee you will be swearing 500 miles an hour while removing the cv from the shaft.
I use a pipe and jar it out like people do on birfields - it breaks the circlip and the shaft falls out.
