I'd be more inclined to think that noise is coming from one of your wheel bearing/hub assemblies, rather than axles.
As mentioned above - if the boots aren't torn and it doesn't look like a baby **** everywhere in your wheel well, chances are, your axles are more than likely good.
As mentioned above - if the boots aren't torn and it doesn't look like a baby **** everywhere in your wheel well, chances are, your axles are more than likely good.