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Check that both front and rear tyre treads are evenly worn. If not, that is what is the most probable cause.

 

I think theres something wrong, my a8 4.2 didn't ever do any of this but has started do do it now! the front judders like something is locking it and so does my rear because I noticed it spinning/locking on gravel! I know my diff fluid is leaking on rear so may check that. Also I have an intermittent ABS problem that comes up now and again. Definately not tyre wear or pressure related guys cos I have drove with different tyres/wear patterns in the past!! strange how audi don't know anything about it!!

 

It sounds to me like the control arms need to be checked. These are classic issues with Audi, but eaisily remedied.

 

imolas...

Was it your 2004 S4 doing this? What goes wrong with the control arms. My '04 S4 did it but rarely does now.. what does that mean?

 

First of all, I have a 2000.
The control arms usually have a bushing problem (the bushings simply need to be replaced), but sometimes the arms get bent (then the entire arm needs to be replaced).
It's hard to say why your '04 did it and now doesn't without being resolved by a mechanic. Maybe your issue was not control arms.