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Sounds like your CV Joints are bad. First physical clue to look for is while the car is parked turn the steering wheel all the way right or left and look at the pivot point where front wheel turns at. If the boot is damaged and grease thrown all over underside of car (near CV Joint) See link it will show both a good boot and a torn one with grease. CV Joint how it works symptoms problems
use a large pry bar pry the inner tripod cv joint out of the transaxle differential gears.you have a retaining circlip that holds transaxle in place in the transaxle.besure to replace circlip and o ring seal on the transaxle stub shaft.torque strut assembly to steering knuckle attaching bolts.install the nuts to the attaching bolts and while holding bolt heads torque to 125 ft lbs and torque axle hub nut 125 ft lbs
check the cv joints on both drive shafts. i had a dodge van that did the same, felt as though the front left tire was about to fall off, but turned out to be the cv joint at the tranny on the left shaft.
raise you vehicle on jackstands. remove front wheel and tire.remove front caliper from steering knuckle assembly, remove rotor from hub by pulling it staright off. remove speed sensor bracket from strut assembly. remove hub and bearing to stub axle retaining nut. dislodge inner CV stub shaft retaining ringon transaxle assembly. insert small pry bar between transaxle case and inner CV joint by prying on it.remove strut assembly to steering knuckle bolts remove top of steering knuckle from strut assembly, then rotate CV assembly out of vehicle. Remove inner shaft from transaxle stub shaft grasp inner CV joint and interconnecting shaft and pull both pieces out at the same time. good luck!
It sounds like the CV joint, no they are not supposed to be loose, free to move but not loose like you describe, sort the CV then look at the wheel bearing as I imagine all the noises will disguise others
the grinding grating rattling annoying sound is yor axles (velocity joint) it could be a simple thing as the boot rubber poping out and the grease spilled off or the bearing is shelling. In any case have the joint repaired or replaced. After this you will need to align as the changing or removing of the joint messes the alignment up.