01 Grand Cherokee "clicks" when brake is applied


I have a 2001 Jeep Grand Cherokee. When the brake is about half depressed a clicking noise starts in the front end. The noise slows down as the speed of the vehicle slows. I can feel the click a little bit in the gear/drive selector in the console as well. Recently, it started clicking whenever the gas pedal was not depressed and when I go over bumps in the road. A local dealer says it is the front drive shaft? Does this sound right? It is a $700 fix if this is so, and I don’t want to spend that much and still have it doing it. Anyone else have/heard of this problem?