Yep, definitely sounds like a bad CV joint. There's really no reason to replace both, unless you see that the CV boots are cracked on the other one as well, and if it appears to be without grease.

I've had good luck historically with aftermarket CV Shafts, but then again, I've never replaced one on my E53.

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2007 BMW X5 4.8i - Sport Package, Wife's Car

2001 BMW 325i - My Car.

2005 Ford Excursion Limited 4x4, 6.0 Powerstroke Diesel. My first "grown up" car.