I have an 02 A8 and for about the last week I hear a clunking noise coming from the rear of the car. It mainly does this after the car has been sitting, and only does it for about 1 or 2 hundred feet. It also does it sometimes when turning a sharp turn. It kind of sounds like abs activating. The kicker is if I push the ESP button on my dash nothing happens. I am amusing this is related to the noise but have no idea where to begin. Need to also add that the check engine light is on but it has no new codes.

 

I realized today that the noise is coming from the front end and not the rear.