I suggest having a look at the Drop Links/C-shaped links that are attached to either end of the Anti Roll Bar unless they have been replaced recently. I had them replaced twice (£65+vat for the pair from Audi) on my old D3. They seem to only last 70K-80K miles. They are easy to change. See Photo.
The front lower arms with the track rod ends were also replaced once over 223K miles/5 years.
The 2 bushings on the centre section of the Anti Roll Bar also cause the knocking you describe but you would have to replace the complete Anti Roll Bar (£146+vat) as these Bushings are not available separately.
One way to eliminate some of the options is to temporarily remove the Anti Roll Bar (Only 4 Bolts) and road test without it fitted. If the noise is still present, its back to checking the upper and lower arms which are all mega ££ for Genuine parts.
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