i had this issue when a nolathane bush was on the way out. by the end there was about 10mm of movement in the bush
so my suggestion is to check your bushes, unless you have rose joints?
edit:
put the handbrake on really tight and ease the clutch out in 1st and reverse. get a mate to safely look underneath while your doing this and you may see the weak point in the setup.
is the diff dead centre? can you measure the clearance between the wheel archs and wheesl on both sides?
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