I have a 1994 toyota privia that makes a klunking noise in the front and back when you go over a bump?

How about taking those thoughts to a repair shop,
or actually get under the car & check it out

this is probably the struts on the front

ball joint,s shock bushings,tie rod ends etc shackle bushing if it has them

When the front end is making the rumbling sound does it feel as though your going over speed bumps too? If so your wheel bearings are junk and need to be changed out. It is possible that the burning smell is trans fluid if an auto weeping and splashing back on to the exhaust that has a horrible acrid smell.

Jack up the wheel and see if it has play up and down and left and right. Have someone watch inboard as you move it. A bad cluck will usually show itself.

axles axles axles bad

Take it to sears auto or a good alignment shop and let them check it out. Pitman arm or end links may be going bad.

If you can move the wheel by hand there is a good chance that you have a bad wheel bearing if nor more wrong with the car.

This would be your front struts.

this noise (based on my own Corvette doing the same thing) is that it is the sway bar rubber bushings making the noise, remove them and apply white grease to the inside of the rubber bushing, then retest, it fixed mine (1996)