^ to add to this.
A lot of times when you have a bad axle shaft U-Joint you will hear a clicking at low speeds when you have your windows down.
One way to tell if it's bad is by jacking up the side of the vehicle you think is bad, and remove the wheel. If it's really bad you should be able to actually feel the play. You can also turn the rotor, and watch the U-joint. if you can spin the rotor and the axle shaft doesn't begin to spin IMMEDIATELY (ie delay in between.) it's bad.
Also try this with the wheel fully turned. This puts more pressure on them and makes them more likely to show that they're bad.
If you don't want to remove the tire to check, crawl under there with a sharpie. Put a mark through the uni cap and onto the axle shaft (straight line.) Drive around some, and then go look at it. If those lines no longer match up - your uni is shot.
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