Possibly something like this?
You may need to tweak/adjust it.
<div id="next-prev-posts">
<?php $prevPost = get_previous_post(); $prevthumbnail_img = get_the_post_thumbnail($prevPost->ID, array(100,100) ); ?>
<?php $nextPost = get_next_post(); $nextthumbnail_img = get_the_post_thumbnail($nextPost->ID, array(100,100) ); ?>
<?php $default_post_thumb = '<img src="default/thumbnail/path" alt="Default Thumb">';
/* Previous Thumbnail */
if ( $prevthumbnail_img() ) {
$prevthumbnail = $prevthumbnail_img;
} else {
$prevthumbnail = $default_post_thumb;
}
/* Next Thumbnail */
if ( $nextthumbnail_img() ) {
$nextthumbnail = $nextthumbnail_img;
} else {
$nextthumbnail = $default_post_thumb;
}
?>
<div class="inner">
<div class="nav-next">
<?php if ($nextPost) { ?>
<?php next_post_link('%link',"$nextthumbnail", false); ?>
<?php next_post_link('%link', '<span class="meta-nav">?</span> %title', false) ?>
<?php } else { echo "<p>You're at the beginning!</p>"; } ?>
</div>
<div class="nav-previous">
<?php if ($prevPost) { ?>
<?php previous_post_link('%link', '%title <span class="meta-nav">?</span>', false) ?>
<?php previous_post_link('%link',"$prevthumbnail", false); ?>
<?php } else { echo "<p>You're at the end!</p>"; } ?>
</div>
</div>
</div>