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This sounds like it could be the the inner CV on one or both drive shafts. IF so, you should hear a slight knock under very partial load. It will then dissapear when decelerating or accelerating. Get underneath and check for play in the CV. Even the slightest amount will give you noise.
I am not familiar with your model. ( I have the plastic 93 model myself) but if there is any similarity then the drive shafts may be secured to the diff shafts with a double scroll pin ( one inside the other) These pins are very hard and become brittle with age and can snap and break up and although it wont creat a radial problem it can allow the shaft to move axially which will also create a knock and prematurly wear the splines.
Hope this helps
Currently in peter clothier's garage:
94 2.1TD Espace