Wsalam
Well at this mileage of 86 k kms it is common for the Vitz and other Toyotas to develop such noises as suspension steering parts get worned out.
For these cases where noises are prominent I uses to inspect and replace following parts
Lower arm bushed 4 of them in total.
Ball joints lower 2 units
Tie rod ends plus rack ends 4 units
Z links 2 units (already replaced).
Antiroll bar bushes 2 units
And steering rack if it has clunking noise.
These are the parts you should replace and your vehicle would be good for another 80 100 thousand kms.
Repairing these above mentioned items would not help in perfect repairs and noises can comeback at any time period plus abnormal behavior like steering stiffness and etc can be observed too.
So get yourself to a good mechanic who can inspect and replace the above mentioned items.
Remember rack of the parts mentioned above supports each other so if replacing them replace all of them don't go for hit and trial method it will costs you more of the labor then actual repairs.
