When i reverse (after being in D and have moved forwards) I can sometimes hear a "clunk", once, on the passenger side wheel (wheels straight or turned). It won't happen again until i go forward and go into reverse again.

Would anyone have an idea what it might be or had the same thing?

I have had this happen before but on a 93 Camry due to the brakepad fixing clip missing and the pad was shifting in the caliper, don't think this is the case here though.