I've just been through something similar with my wife's Pajero; it's a process of illimination. My first thought was a shocker was failing, but nope (although that may or may not be your problem though)
Took it to a mechanic, who diagnosed worn LCA bushes. His advice was to replace the entire LCA assemblies (Edit - including ball joints). We did, it was expensive & it didn't work (once again though, it may or may not be your problem)
I was sctratching my head & thinking of replacing the UCA's next, then I took it to another mechanic to see what he thought before I did.
He came for a drive in it & heard the knock, then said to try replacing the brake pads, as they were old (but still had plenty on them) & according to him, old pads sometimes wear & move a tiny amount in the caliper when taking off/stopping, causing a knock. It was cheap, so why not!
Bingo! That fixed our knock. Good luck with yours.