If thump on a right turn (if the noise is more up front) is more likely that RF driveshaft or (less likely) the front differential. Changing differential fluid (Redline GL-5 for differentials) is a good idea regardless - but not likely your problem.

IF you are rather convinced that it's transmission (or that area) - I'd look at the driveshafts and flex discs (you didn't mention if your car is a manual or automatic).

IF the noise is more from the rear, it could be the rear subframe bushings - although the clunk noise / feeling (I've had this) is more likely over speed bumps, pot holes. This IS an E53 wear item - I replaced mine ~3 years ago (approx 280.000 km) and it eliminated the bump / slam feeling over certain bumps.

Front types of the correct radius - could you be more specific of the size of the rubber as well as the wheel? Larger (i.e. wider) wheels tend to bring out the worst in cars - when there is something less than perfect.

Front axles - rubber replaced? Why? If the RF axle had a boot issue and suffered internal wear - cleaning the CV joint, new CV grease & boot have covered the immediate issue but possibly not the damage / pitting / wear to the balls and/or cage. My car had this (previous owner), it was cleaned and resealed - fix did resolve the issue for 100.000 km but I had specific noise on RH turns. A replacement (genuine OEM GKN) axle resolved the issue.

__________________
2002 Euro X5 (E53) 3.0 diesel (M57)
5 speed manual with UUC short shifter.
Pre-xDrive NV125 transfer case (chain & gears).
Factory Xenon headlights, Spyder LED tail lights
Updated vortex crankcase breather.
Motorsport dead pedal, factory fire extinguisher, factory first aid kit, factory F&R mud flaps, factory PDC

Bilstein B6 shocks F&R
Redline oil has replaced "lifetime" fluids (F&R diff, manual transmission, transfer case and P/S).
Dimple magnetic drain plugs in all compartments.