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Steering knocking sound

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Hello, I just noticed a knocking noise when moving the steering wheel very slightly. It only happens when the car is stationary or when making small adjustments in stop start traffic. I checked the tie rods but everything seems normal, no issues from the suspension either. Is this normal behaviour? It will only happen once then stop, then again after moving the wheel from my normal driving position after some time. Many thanks in advance for your help. 

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Some clicks are acceptable but will depend how much, previously Toyota has issues with power steering column on various models, Prius Auris, Avensis, etc. Not sure if the  new models has something similar. If it’s too bad better to check with dealer or another similar car for comparison. 

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