Is it normal for the steering wheel to stiffen up slightly when going into a turn? I'm new to Audi. Thanks. 2005 a6 3.2Q

 

I have same when turning especially after cold start, a feeling of powered steering not in its 100%.

 

Normally the sign of a bad steering rack. Check fluid level first, use only Audi specific fluid. If it still is stiff either change out your rack or learn to live with it until the rack packs it in completely. Search on Power Steering rack DIY to learn the joys of replacing it.

Bob