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halfshaft hitting control arm?

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im not sure if your mounts could be that bad. have you been in any fender benders? sounds like some bent frame action. pictures would help like ^^^^he said!
 
You need to just post up a picture of it, and this is caused when you or someone else may have hit a curb, pothole something that can do some serious damage.
 
A bad ball joint as stated would be my first guess. Also make sure your tie rods ends are good if its in the front. If its in the rear then just do a quick inspection and make sure nothing looks bent.
 
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