Usually with the truck in the air and running (I use 4 BIG jack stands and I point the truck AWAY from the shop/house) it only takes putting it in D and letting it idle to find the noise.
I have done this SAFELY many many times. It's not my favorite thing to do, but it can be done safely. I try not to go under the truck, but like I said usually it only takes about 5 seconds of the truck actually in gear and drivelines moving to confirm the noise is either what I thought, or something else.
Before you do that You should have somebody bounce the truck by the bumpers, rock it back and forth, bounce the suspension while you look around. Many times this will locate your noise
Next you should support the truck by the frame and let the suspension hang, get underneath the truck with a short pry bar and do a "shake down" test....usually this will find the looseness, bushing, joint, mount.
If you have a go pro or similar you can also rig up mounts to watch the suspected clunk location as you drive around, this is much safer then getting under a running truck
If all of that fails to locate the noise THEN I put the truck on 4 stands and have a helper stand on the brakes, start the truck, put it in D or R and try to spot the noise while the drivelines are moving, only get under the moving truck if ABSOLUTELY necessary. And NO LOOSE CLOTHING, long sleeves, belts, un tucked shirts, etc
SAFETY FIRST
On our trucks there are so many things that can cause a clunk, but usually they are not terrible to locate