Whenever I have suspension/steering problems I rely on pros to help unless the answer is obvious. My '04 had similar noises to yours and they called it sway links or something like that and fixed it (under warranty) but my understanding is the repair would have been less than $100 if I had to pay for it.

Bring it to the dealer if you must resort to that and have them test drive or examine it on the lift and give you an estimate for the repairs, then you'll know what's wrong. Even if you have to pay for an hours tech time to debug it you'll save that in not replacing parts that are OK. Steering and suspension issues are too important to guess at and too dangerous to mess with if you don't know what you're doing, IMHO.

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Marty D.

2013 C300 4Matic
1984 BMW 733i
2013 Lincoln MKz