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What tires are you running? I've had two Michelin Agilis go out of round i.e. develop bulges on the tread face. The one on the front caused a bad steering vibration at certain speeds. My tyre place knew exactly what the problem was before I even described the symptoms - they've seen loads of these misshapen Michelins.

But ff you've got knocking as well then it's probably a joint as others have said.
 
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