The common things to look at first are the anti-sway bar links, and look at the struts to see if there are protective plastic cups that have broken off and are rattling on the shaft. The struts can rattle too. I can describe how to check them if necessary. They will rattle rapidly even when driving on smooth roads. None of those things are serious as far as safety.
The next step would be to have the steering and suspension systems inspected at a tire and alignment shop. Fords have a real lot of problems with parts separating leading to loss of control and crashes and noises must never be ignored. Most other brands including Hyundais don't have that many problems but they still shouldn't be ignored.
There is a tool you might be able to borrow or rent from an auto parts store that borrows them called the "Chassis Ear". It is a set of six microphones, a switch box, and headphones. You clip the microphones to suspect points, then drive around while listening with the headphones. You can move the microphones around to zero in on the source of the noise. Be aware that many mechanics have never seen or even heard of this tool. Suspension and alignment mechanics use it to find rattles, squeaks, and other noises.
Thursday, May 2nd, 2013 AT 1:13 PM