I had such knock, like a single 'thump' that I was also feeling in the floor. Now mostly gone. I have several possibilities: the two 14mm bolts on the plate for the rear subframe bolts, sometimes come loose, especially when we jack the car over that plate. Worn anti-roll bar to subframe bushings can also make a knock as we take off. Some old struts can also make a knock when moving off.
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