Rhythmic thumping or clicking sounds that occur during acceleration or in idle mode (may change when turning the steering wheel) indicate a defect in the joint on the wheel side.
If the steering wheel hits your hands hard when turning, then the outer joint of the drive shaft is also likely damaged.
A clicking sound when starting off with the wheels turned all the way may indicate a defect in the drive shafts.
Note: Damage to wheel bearings causes the same symptoms.
For details, please visit the website fordbook