Many thanks for the replies. I've done some more research and the coil pack seems a very common fault but having looked at YouTube, the coil pack problem seems to cause a 'clicking' type noise whereas mine is more of a vibration, the engine moves slightly when the knock occurs. The knock hasn't ever caused the engine light to come on.
I've made a YouTube video which hopefully shows the knock - the misfire happens at roughly 10/18/22/31/34/43/50/57 seconds and 1min 06 seconds on the video.
https://www.youtube.com/watch?v=KDtl6ZeVGog
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