If you can't feel any excessive play in the ball joint, I'd suggest you look elsewhere.
Are you sure the sound is coming from the front ......and not the back .. ??
I have to enter my driveway at an angle also ...... and I don't hear any clank, so, I reckon that sound isn't "normal".
However, if I don't hit the driveway at exactly a 45 degree angle, I do get a sickening "crunch" sound ...... as the exhaust mid pipe scrapes .....
I'd suggest you have someone stand outside the car, while you enter the driveway, while your car is making that clank sound, and see if they can help isolate where the sound is coming from.
humfrz