I was doing some more research on this noise and did a test that someone suggested. Turning the wheel with the car off to see if there is any play in the components. Surely enough there is a clunk noise when doing just that. I don't know if this is the same noise I hear over bumps but this seems concerning. Any thoughts?
Video attached:
https://youtube.com/shorts/SKI_Y-i4qYY?feature=share