Tapping in steering wheel

2021 SR5 Premium 4WD - The issue started right after the warranty ran out of course. It's not really a sound or if it is it's so minimal you can barely hear it but I can definitely feel it. I only notice it when I start moving forward and more so when turning (not a full wheel lock) and it's only noticeable at a very slow speed - maybe to to 3 miles an hour. I do not notice this during regular driving speeds nor do I notice it after stopping at a stop sign/red light.
It seems to be primarily when the 4Runner has been sitting for 30 minutes or more.
I've checked both CV boots and they appear to be in perfect condition.

Ideas?

 

fyi, i've read the other posts similar and this doesn't appear to be the same issue.