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Have had this to various degrees on my Raleigh. Seems to be dependent on load and tyre pressure, to do with the fork trail as best I can tell. Some roads are worse for it than others. You can stop it by bracing the top tube with your leg while you faff around for the banana in your back pocket.
I think Scobles said needle bearing headsets help.
TvH
I checked wheel, all fine. Rear rack not loaded. So I guess I get bike shop to check headset.