I have a 2002 A6 Quattro 3.0L automatic with 165k miles. There is a whirling noise upon acceleration at low speeds and goes away at high speeds. It seems to be louder when it is colder weather. At 163k miles my passenger side front tire had shoulder wear down to 0/32" that required replacement even the tread was at 7/32". At 164k, I noticed that the driver side front CV boot axle was ripped so that was replaced as well. This same half shaft was replaced at 125k miles at the dealer. When I make a U turn turning left, the tire makes a thumping sound. Could this be the rear driveshaft support bearing even though the wear seems to be on the front axle? Does this seem to be related? I am not sure how to proceed. Any recommendations? Thanks in advance.