Clunking when stopping

I have a 2011 4Runner with 55000 mi.
I've had had clunking sounds when stopping but only when it was really cold like below freezing around 20 F. After driving the freeway and then slowing to a stop at below 20 or 15 mph it has an intermitant clunk with each tire revolution. As I apply the brake with minimal pressure it stops.
When it warms up the problem goes away.
Now I find a service bulliten TSB-0040-12 REV 1. It is also listed with a highway safety number ID Number 10056061.
It's associated with a propeller shaft (drivershaft issue) for Tacomas, 4Runners and other Toyotas.
I can only find the short version of the problem.
Can anyone provide the long version that includes the fix and how to do the fix?
Lee in Bellbrook Ohio