After I have read this post and it made me realised that clunking noise is something abnormal. So I booked in the warranty check with Toyota Pakenham and the tech guy went in a drive with me and confirmed the noise from steering shaft. The service manager reckon it may not be part of the warranty claim at the beginning. Next day, he has rung me and advised me that it is all good and approved, cost me nothing to replace, good news without the need to harass them that I will contact ACCC. Therefore, anybody experienced the same issue, i strongly recommend you to contact your dealership and sort this out...maybe toyota australia might change and starts to roll out new policy to change all steeting shaft problem if any users raised their issues.