I' ve never known her (to) be late before is a perfect tense construction. The perfect requires a past participle verb-form, like known in your example. But "knew" is not a past participle; it's the simple past tense form of "know", so you can't substitute it: there's no * I' ve never knew her to be late before .
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norwolfI learnt that have known can be followed by an object + bare infinitive or to infinitive, for example, I've never known her (to) be late before.My question is: what about knew?That pattern works in all tenses.