Hi Mike,
If the rear track control arm, and alignment, are ok it is likely to the upper or lower hub bushes.
I had this on mine and changed the hub bushes along with the track control arm as it was seized.
Laser do a kit so the hub bushes can be changed without taking the hub off which is just threaded bar with the right size cups.
If you do change the track control arm just make sure it has full movement as they tend to wear a slight groove in the slot and you can't get the full adjustment.
I found this out after some head scratching whilst trying to get the alignment in spec.
Hope this helps. 2012 TDV8 4.4 Westminster Santorini black
2016 Discovery 4 Landmark
2002 Defender TD5
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