Suspension/steering clunk

[Gavin94]

Hi all, so I’ve had this clunk/knocking noise that’s been driving me crazy for the past 6 months, it happens when turning stationary or at low speeds and also clunks when I apply the brakes semi firmly and moving off.
I’ve replaced all the control arms, drop links, refitted the pads, and very recently replaced the steering rack after a garage told me that was the culprit but I hasn’t cured anything 🤦🏻‍♂️
The car is a 2008 Audi S5 V8, any help or past experiences will be greatly appreciated as I am at a loose end now haha.

Video clip with noise

https://vimeo.com/562130749