Thank you all for your contributions there is lots there to get my teeth in to. I will of course update you all with the outcome.
However I have decided to take it a step at a time. Step 1 is to get the Alignment checked by a professional and then see if it helps. The Engine mounts were new last year so they should be OK.
If that does not work I may be faced with either replacing the PSS Seal or maybe installing a flexible coupling .. But we will decide on that later.