^^ That was going to be my next suggestion. It could also be bad rubber bushings in the lower control arms. Get it up on jack stands and inspect it, do as TripleZ and use a little force to see if you can shake anything. Make sure you have someone to hold the steering rack tight if you try to push the wheels sideways. If there is any play while pushing in on the top or bottom of the wheel, that may indicate a bad wheel bearing or bad balljoint.Probably ball joints but just jack the front end up and try to shake the wheel left to right and up and down and see if there's any play in the ball joints, tie rod ends, rack & pinion, sway bar end-links, etc.
Can you use it while you are driving around to listen for noises?Most likely a bad sway bar end link or ball joint. Depending on mileage it could be a bad strut or strut mounting plate as well. The usual culprit is the ball joints though. There is a great tool on the market called Chassis Ears. It is a electronic stethoscope that clips onto chassis parts and you put the headphones on your ears and listen for the noise. I own a set, found them on ebay for under 50 bucks used, definitely worth it for annoying sounds on older cars.
Yes you can. It is an amazing tool.Can you use it while you are driving around to listen for noises?