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You'll need to get underneath and give the ball joints a good tug and check if there is any play in them.
Mine needed replaced at MOT and only noticed the play in it when it was on the shakers
so the car passed on the basis I got the joints changed :)
Car seems fine in any other situation -...
Car is doing this again - everything is fine (tyres, pressures, shocks, springs, ball joints and tracking)
Also this on a dry road on a sunny day too :S