You probably need new outer CV joints, they are clicking as they get stuck and then jump free.
If you catch it early, it may be possible to get away with just opening them up, cleaning and re-greasing if grease has become dry and is not lubricating properly. But if this has been going on for a while, it could have caused extra wear, damage and heat and would require replacement. Definitely do not leave it for another decade if you do not want to get stranded, sooner or later instead of jumping free when they get stuck, it will break CV joint cage.
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Currently 8less
2011 Q7 S Line 3.0TDI, 2016 Tesla Model S 90D
8 history:
2006 A8 Sport 4.2TDI quattro SOLD,
1997 S8, reached end of life with gearbox failure
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