Under light to mid throttle my 03 A6 4.2 makes a grinding noise from the front of the car. It sounds like it may be a spinning object based on the noise. it ONLY happens when starting from a stop. I can be moving at 3mph and it won't make the noise which is weird... Any ideas?

 

brakes pads or rotor dust covers

 

^^^ Probably correct. Also check for bits of gravel caught in the caliper, things like that. You could probably jack up the front of the car and spin the wheels to further narrow it down, or at least confirm/eliminate the brake/wheel assembly.

Good luck...