clunking when put into drive or reverse

If it doesn't ring like a bell when it does it, then your idle is probably to high.
If it does clang like a bell then it rear end gears play (since you replaced the ujoints already I won't say that is it) because usually it's ujoints or to high of an idle that causes it.

These are not new cars with all the quiet cutesy comforty crap in them either, so it may very well be normal.

If the idle is about 800 or so and it doesn't clang like a bell when it does it, then it's probably the norm for the car.
(And it would do it worse at higher RPM's due to more power hitting the end of the slack in the drivetrain.) like putting it in gear at 1200 instead of 800 RPM.