Worn cv joint... Replace affected axle assembly... I have fixed a field full of em!!, I bet it only does this when Van is moving so replace the failing axle assembly!
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it could be many things. If its just a click it could be a power steering issue. If it favors a side ie. driver or passenger it could be a tie rod or part related issue. Are your tires worn unevenly? Can you feel anything in the wheel when it clicks?