Difficult without hearing the noise but usual suspects are wheel bearings or CV joints, does it get louder on lock or Kick the wheel more on lock, if so its CV joints. No need for new shafts, just get new joints from the likes of GSF car parts. Wheel bearings tend to rumble and get louder as you put load on them ( going round a corner at speed for example).
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Coupe quattro 1986:-~450bhp + loooong list of mods!
Audi A7 Bi-TDI SLine Black edition 2015 mapped to produce 600lb/ft torque!
Audi S4 4.2 V8 cabriolet 2004:-
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