I just bought an '04 A6 S-line with 38K miles. WhenI make a tight turn to the right or left from a stop, the car shudders like an old 4-wheel drive does. (wheels not turning in sinc) This is my 3rd Audi but the first with automatic transmission. The shudder does not happen when I am rolling along like in a parking lot and crank the wheel hard. My two mechanic shops don't know if this is bad or normal. I live 250 miles away from the nearest Audi dealer. This doesn't seem like a good thing but I need to direct my audi approved repair shop (still 60 miles away) Any thoughts?

 

I have no idea but my S4 does it as well.

 

My Avant does it too, almost exactly as you mentioned. I've been told that if the power steering and diff. fluid levels are ok, it's a normal condition.