Turn your wheels to full lock, all the way to the right, and look at the inside of the wheel. You'll probably find grease sprayed around from a torn CV boot, if that's the case, you'll need to replace the halfshaft on that side.
It's not as awful as it sounds, and it's easier and more cost effective to replace the halfshaft instead of just replacing the outer CV joint.
Here's a thread on doing the job....
Replacing CV boots on 2008 LS