This is classic constant velocity joint noise. Even though it sounds like
it's in the rear, it's the front.   Have the bad CV joint replaced.

Usually a tapping or knocking sound when turning is indicative of worn CV
joints on your front axles. Often the wear is due to torn or open  CV boots
around those joints. Get down in front of the car and look at the rubber
boots on your axles just inside of your your brake backing plate. If you see
a split between the folds of the boot, or a tear or break in the boot, the
joint has probably failed or worn. You may also see alot of CV grease around
the suspension and wheel from being flung out of the joint through the open
boot. If that's what you seeand you're hearing the joint clicking then all
you can do is replace it. Spend the extra few bucks and get a factory
remanufactured Honda axle. They are superior to most of the aftermaket axles
out there and Honda covers their remanufactured parts with a 3 year
warranty. Good luck.
Howard