I have a 2006 A4 3.2 S-Line after driving for awhile and then i try to pull into a parking spot it makes a high pitch noise when I turn and Brake. Does anyone know whats wrong? how much it costs?

Another question is why does it seem like my engine is so jerky especially when I stop then start? Its almost like its about to stall. If I go from being completely stopped and then go to fast to the gas it almost jerks or stalls before it goes?