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OK, I'm pretty sure I answered my own question. I had removed the fibreglass underpanel that covers the exhaust/transmission in anticipation of some work being done, but not the metal underpanel beneath the steering area. I looked underneath and was pretty much able to recreate the noise from the metal underpanel banging against the subframe since it was no longer resting on the fibreglass one. I'm pretty certain that's what's causing the noise - I'll leave this post on here for information in case anyone else is as boneheaded as I am!
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