Alright man.. i feel like it may be a cv joint.. If it is a cv joint how much do you think that will cost to be replaced? Ya know with it being Audi and all. Lol!

 

I am having this problem as well with my 1999 A6 Quattro 2.8. I notice it does it when I back out of my driveway, parking space etc. or just start to move and have the wheel turned at a sharp angle. It is a shutter when taking off and it goes away when I straighten the wheel and continue to drive and never does it at any higher speeds just in the cases I just mentioned... Any ideas or causes?