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If that's where you're headed, I'd do Southwark Bridge if you can. Straight over the junction at the south of the bridge and then hook a right onto Union Street. Easy.
Your other option is to do Tower Bridge, stay on Tower Bridge Road a bit longer, and then turn right onto Druid Street, carrying on to St Thomas' Street
Going west? I'd say it's keeping to the right at the first set of lights coming off the bridge and turn right past Sainsbury's