02Audi-A4-3.0

Sup, Everytime I leave my parking space (on a street curb) I have to turn wheel to the left then center it because of cars in front of me. When I turn to the left it's fine, but when I center the wheel back out after leaving the space I hear a funny pop or clink noise. It sounds like it is only on the driver side wheel. Could it be a CV joint or boot? By the way, it never pops when driving and taking turns. It only pops once at the start of my driving. Hope someone knows what's up. Thanks