Based on your description, I think it may well be the ARB bushes.
I put big miles on my 04 D3 when I had it and the ARB had to be replaced at one point as the bushes weren’t available on their own.
They were only available from Audi with the complete ARB.
Drop Links were replaced at least 3 times as they barely lasted 50 - 60 K miles but they relatively cheap and quick/easy to fit.
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