The solution/problem was: The cross brace located under the plenum needed to have the bolts removed and then torqued to spec. The service manger told me they discovered this issue a while back. On S6s and RS7s, they previously had replaced control arms, and many other items trying to locate this problem- none of those were the culprits.. They said they have had 100% success with this simple fix they did to my car.
Since this appears to be a common problem, I thought I would share what worked for me and several others.
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