Renault Laguna Clunking noise in 3rd - 4th gear?

2003 Renault Laguna Problem

CarRenault Laguna 1.9 Turbo Diesel Initiale
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Recently noticed my car's steering wheel shakes quite abit when I have been at 60mph and having to brake - even slightly!

Then the last couple of days it has starting to make a noise when i'm in 3rd gear and 4th gear (the noise is still there in 5th gear but not as noticable!). It sounds quite bad - it is a whirling clunking sound (first I thought it was a flat tyre coz it sounds similar but all the tyres are fine!). The noise is quite embarrassing and i feel I have to drive in 2nd or 5th gear in towns!!!

My control system, tyres and oil computers all telling me they are ok when I get in the car but i'm not convinced that I can rely on the computer???

Can someone please help diagnose what the problem(s) are?
Problem Category
Engine, Cooling System & Drivetrain

Gearbox & Clutch

Electrics, ECU, Warnings & Lights

Steering, Suspension, Brakes, Wheels & Tyres

Leaks & Noises, Interior and Bodywork

Running Rough, Starting & Power Loss

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