Not to scare you, but my brother had the same problem in his bone stock '00 Teg. Ended up having to replace both front axles.

It would be very apparent in parking structures, b/c the sound would bounce off the walls. Once up to normal speeds road noise and other cars would drown out the sound. We checked the CV boots and they looked fine. The techs at the dealership had to look at it for almost 30 minutes before they figured it out.