I bought a 1989 535 a few years ago. Car had only 43K on it but I had to replace almost everything rubber on it. I was getting a vibration that I felt under the driver seat at idle. Changed the transmission and engine mounts. It solved the problem.
In my other E34 (94 530M) I was getting a similar vibration at 20-25 miles per hour then it would smooth out. That was a bad u joint and guibo and replacing them was the answer.
Your problem also could be just the sway bar links. 10-20 kms is slow enough where you could hear and feel a clunk but it would be up front and not drive train area. I even changed new ones and didn't tighten one enough and felt and heard a clunking sound going over a speed bump . You almost have to have a wall or building beside you to hear the noise bounce from it.
Hope I didn't confuse you more. I am not a good mechanic but all the above has happened to my cars.