"is it normal to hear a slight clunk in the front brakes when applied? The dealer said this normal but I want to be sure."
Normal, no. Common problem, yes. What you are hearing is the automatic adjusting mechanism in the front brake. Part of that system employs the use of the "S" cam. It got its name from its shape. When the S-cam gets dirty from brake shoe dust mixed with the grease used to keep the S-cam lubricated, it starts to hang up in the process of what it does. You hear the clunk when the cam becomes free from the brake pressure, but in reality the process should have been a continuous smooth motion when it does its thing. The only fix to relieve the clunk is to have the adjuster mechanism removed, cleaned, reassembled and greased. Unfortunately over time the same confluence of events that caused the clunk to happen the first time, will likely cause it to happen again.
2006 Winnebago Journey 36GSE; 2014 CRV; Blue Ox; SMI AF-1