Whenever I get my car out from garage, I hear click noise coming from front (near axle?) end of the car. This also happens when applying brake at very low speed. I don't hear this noise while driving on the road (could be due to road noise / music). What is that I need to check? Is it something expensive coming up? my car has about 56K miles..

 

This could be the lower control Arm that could be broken . This happen to me once

 

At your mileage I would check the sway bar link. Quite inexpensive (<$100) and very easy DIY.