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It's the lower control arm bushings. You won't be able to synthesize it by any means other than driving over a bump. The elastomer breaks down inside (where it is captive to the control arm).
Although it will slowly get worse over time, the noise will drive you crazy long before you start to feel it in the steering wheel. I'd get it fixed earlier rather than later, though. Too many things are moving farther than they should when this bushing clunks.
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