Dead wishbone bush? You see the same thing on 205 GTis. If one of the bushes on the wishbone goes then torque to the wheel rotates the hub around the good bush, changing the angle of the wheel. Certainly worth a look.
It has 125bhp, 112ft/lb ,weighs about a ton.
Left drive shaft is shorter than the right. It has an electronic differential to keep the wheels within a certain rpm of each other
I have had the car for 3 years, and never noticed it before. Its not reported amongst other owners as an issue
New wishbones in October, inc all new bushes.
Could be a dead engine mount, but not sure if a FWD engine can shift from side to side like a RWD one can. Definitely check all the bushes over though.
OEM wishbones or pattern? Did you fit polyurethane bushes?
OEM with OEM bushes.
Driveshaft or Diff perhaps? Unsure which gearbox is fitted to the Lupo GTI, however other 1.4/1.6 VAG cars around 1998/1999 had a bad batch of diffs which tended to fail within warranty. My Bora was one of them...
Powerful FWD cars with uneven length driveshafts (which is most) can have a tendancy to pull in one direction under hard power. Go find the Top Gear clip of the Astra VXR for an example. If it's a recent problem then it's likely a fault than a design characteristic.