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A friend of mine had the same problem with his E-Pace. Unfortunately it remained unresolved when he traded it in after 3 years.

Switching off the LKA didn’t resolve it either.
 

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My wife had a similar problem on her F-Pace but the pull used to switch between left and right.
I eventually swapped the rear tyres to the front and vice versa. It seemed to cure the problem.
The car was about eighteen months old and still running on the original tyres.
No idea what the OP's car age/mileage is so this may be irrelevant.
 

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2021 F-Pace P250 SE R-Dynamic, 2004 XK8 Coupe 4.2
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My ’21 F-Pace has done this a couple of times, LKA not switched on. It could be part of the collision warning, though the noise didn’t happen, just moved the wheel slightly.
 
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