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They can be tricky to diagnose when they are still linked up. I've never looked under a mk6 golf but I am assuming if you know the right end from the wrong end of a spanner and can safely jack a car up they will be pretty easy(famous last words) to remove and check. you'll need both sides jacked up level. Once one end is disconnected from the ARB have a waggle of the joint and see if there is any inward/outward movement or if they are loose.
8b
hugo7
Is there an easy way to do this?
Googling also brought this up as a possible reason for the knocking.