If your car was in the shop, the first thing I'd do is have someone bounce on the car to see if the noise appeared. Next, put the car on ramps (with the weight still on the wheels), and go underneath with a rubber mallet and tap around to see if anything made a noise. Finally, inspect all of the suspension carefully for rub marks, as an indicator that two metal surfaces are making contact, where they shouldn't be.
Next, put the wheels in the air (as in load off the suspension, jacking by the frame), and wiggle the wheels around to see if there's any play in any direction.
I'm betting that one of the above will yield some sort of result, but let me know either way.....if you can't find anything with the above tests, we'll puzzle it out some more. Good luck!