As you have seen, CV joints can make that noise for a long, long time and not strand you. It’s a big job to remove and replace a driveshaft - I’ve done it once after much research: cleaned and regreased after I discovered a torn boot that had not been torn long. No noise was happening.
Anyway, after 10 years the boots may be brittle. Maybe not - Toyotas have better than average rubber, in my experience. If they can be pulled back from the CV joint and put back in place without breaking, that simplifies things. While the boot is pulled back the joint can be cleaned to some extent and fresh grease squeezed into place to some extent. Maybe that’ll do the trick. But it’s quite possible the boot will be damaged and needs to be replaced. That means extracting the axle/CV - a big job, but one that repair shops should be able to do well. As a DIYer, for me it was a big deal, but I probably saved a few hundred dollars and had the satisfaction of doing it. If the axle/CV needs to be removed, and has been making that knocking/crackling noise for years, a shop will want to replace the whole assembly, not mess around with hoped-for success with cleaning and regreasing and putting on a new boot. The quality of replacement axles/CVs is spotty. Someone else may know if there are better and worse brands. OEM from a Toyota dealer will be the costliest and maybe worth it.
There’s no clearly best way to go on this. It’s a risk/benefit/cost situation. Situations like this have made me a DIYer. Others, a risk taker. Other others are willing to pay someone else in hopes of avoiding a potential hassle.
Good luck and please keep us informed.