If steering parts need to be replaced they will knock or clunk when driving or steering. If the tyre is worn on the inside then it is a symptom of worn tie rod end or lower ball joint. If you have just noticed it and there is no inner tyre wear you may have just knocked the alignment/camber out which can be re-done with no new parts.
I would start by inspecting tie rod ends & lower ball joints. Any up/down movement (use crowbar/huge flathead screwdriver or huge pliers) means the ball joint needs replacing. If they are all fine then I would take it to a garage and have the camber setup again. If you replace tie rod ends or ball joints the camber will need to be re-done aswell.
If you have noticed that the steering is a bit vague this can indicate tie rod ends, tie rod ends can knock clunk or creek when steering. Lower ball joints knock/clunk when driving.
