It's a high probability that your control arm bushings are shot. My buddy and I recently trouble shooted his suspension noise to the inner bushings on all four of his upper control arms on his B6S4. His symptoms were a clearly audible clunk heard when he would run his wheels over the small turtles/bumps you find on top of yellow road lines -- each upward/downward cycle of the suspension created a definite audible clunk heard with windows down and sound reflection bouncing off of houses/walls/etc next to the road driven on. We pulled his front wheels off and visually verified that all his upper inner control arm bushings were bad -- they all looked like someone had taken a knife to them and cut them in half on the outer rubber part of the bushings. We were prepared to replace all his CA's ourselves, but he was fortunate to find out that his factory warranty expired today, so he had his car into the dealer this last Saturday to get the CA's taken care of. I was with him when he picked his car up from the dealer. Dealer noted on his service order that they replaced all the upper CA bushings (4 bushings total) citing repair work being done per a technical service bulletin. I wrote that TSB number down....and found it here.....
TSB 2016453/2 Suspension issue
That TSB has pictures that show you what bad CA bushings look like.
If you have a wheel gap between your wheel and the front fender, you may be able to visual see the bushings using a flashlight without removing the wheels. The bushings are on the inner part of each control arm on either side of the triangular bracket that the top of the suspension spring presses against.
(see pic below, compliments of A4mods.com)
FWIW, B6A4s and B6S4s use the same upper control arms part numbers.
When I was at the dealer, I had the parts guy pull and show me a new control arm. The rubber around the bushings when new is completely solid -- no cracks, no holes, no nothing.
The McLube rubber lubricant that Old Guy posted about looks interesting. After seeing what pristine bushings look like in a new CA, I can easily see how that type of product may prolong the bushings life.
The following image is linked from A4mods.com write up for "STaSIS Street Sport/Koni Coilover Suspension Install - B6 Audi A4" -- CLICK ME HERE! to go to that write up . Upper CA bushings are located at referenced number 3 and 6.
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