Thanks, I'm not a DIY kinda gal, so I need to find someone that works on Audi's that isn't a dealer.

Hey - that's usually a sign of worn control arm or ball joint bushings. Best bet is to pu off a wheel and inspect them. How imperative it is to change them will depend on whether they're just a little worn or if they're cracked or blown out. You can buy replacement bushings but you're better off just replacing all the control arms. They're known to fail and that will eliminate your worries. Check FCP Groton for great prices - I have no complaints about my kit from them.