This is a worn out idler arm or bad ball joints / tie rod ends or the stabalizer , it could even be your wheel bearings , at any rate i would checked it before it causes and accident , jack up
both front whjeels and ckeck for play in the steering by grasping the tire by both sides and try rocking it from side to side and moving the wheels form right to left like you are steering the car while someone watches the steering arms and joints for play , everything should be tight , no play any where ( from what you say , you are about to lose a wheel while driving )


