I have a friend with a different make/model car but who had nearly the exact same sound. It would often happen going over certain kinds of bumps. And it would come and go. They took it to a mechanic who couldn’t figure it out. I had a quick look and nothing stood out—nothing felt loose.
Over the course of months the sound got worse and I suspected the CV axle because it happened on a turn (it previously didn’t) and it just sounded like a CV axle clicking. They took it to a mechanic who replaced the CV axle and the sound hasn’t come back.
Kind of a strange sound from a CV axle but it’s worth mentioning.
I’d also check to make sure there aren’t loose parts or worn sway bar links. And of course the lug nuts are a quick and easy thing to check.