Hi, new to the forum.
I have a 2003, IS300. I had the same clunk noise.. infuriated and worried the heck out of me.
Took it to my trusted mechanic and lower sub-frame bushes were the issues. Potentially could be the same with yours. Ended up buying parts from the mount shop ($$) as Lexus/Toyota would only replace the whole subframe ($$$).
Over all pretty simple fix but you’ll need a press to do it so pretty much a mechanic job, I’d also do both bushes if I were to do it again, as I only replaced the one at the time - needless to say I learned my lesson.