did you try poping the hood and having someone turn the wheel so you can see/hear where the noise is coming from specificly? it would be easier for people in the forum if it were narrowed down slightly.
I think thats why CJ-Tim said to take to a 4x4 shop if you can't determine that. You don't have to have them repair it but they can point you in the right direction.
2001 XJ Sport
3" Rusty's AAL and Springs
1" Daystar Shackles and (2) 3/4 front spring spacers
1" Transfer Case Drop, Iron Man Adjustable LCA's
RE Adjustable Trac Bar, Rusty's Adjustable UCA's
31" Uniroyal AT