Yeah that stealership is defiantly giving you the run around.
You cannot even grease the CV's on your truck, they are non serviceable and enclosed in a rubber boot.
2003-2009 Range Rover Axle Shaft (HSE) - Left Front
The CV is inside the boot you see.
It is defiantly a suspension issue, any suspension/muffler shop can look at it for you and tell you what is wrong.
The "Storm Trooper", 1997 Discovery with 245,000 miles, still a daily driver.