The noise will get progressively worse, it may pass inspection if there isn't a road test portion.
There is supposed to be a road test for inspection in PA, but some shops do it and some don't, here in PA it largely depends on the shop and tech how good the inspection is, the state police do surprise "spot checks" (often involving undercover officers bring in a car that should fail to test the shop), but these only hit a small percentage of shops, so some shops get away with pocketing the inspection fee and doing a half-assed job for years (of course if someone gets hurt/killed due to them passing a vehicle that should have failed they open themselves to major liability).
Here's a link to the PA inspection manual, a reputable shop should follow it (Subchapter E, P33-47 contains the inspection process for passenger vehicles):
http://www.dot.state.pa.us/Public/DVSPubsForms/BMV/BMV%20Manuals/Pub_45%20Inspections%20Regulations/PUB-45.pdf This is also a good reference, since some slime-ball shops will try to fail you for things that shouldn't, I've had shops try that more than once, I take a copy of the manual when I go in for in section and love shoving it in their face when they try that crap (and then of course I'll never use that shop again afterwards).
In any case it is something that needs fixed, if it is a failing CV axle it will leave you stranded someplace (per Murphy's law likely in the middle of no where, with no cell reception and a 10 mile walk to the nearest service station).