No experience on D4 but I have experienced similar thing with other Audis, Tyre make, size/profile and pressures definitely make a lot of difference but biggest improvement was switching from all metal ( I assume aftermarket) track rod ends to the OEM with rubber bush between the ball end and the threaded screw. Some that I have seem are 1 piece metal or 2 piece metal but without the rubber bush. If yours does not have the bush in there might be worth investigating if there are bushed variant available for D4 or if a part from another model with the bush can be used. Part number with bush that I used and fits D2 and A6 C5 and probably many other Audi/vW models is 8D0498998A.
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Currently 8less
2011 Q7 S Line 3.0TDI, 2016 Tesla Model S 90D
8 history:
2006 A8 Sport 4.2TDI quattro SOLD,
1997 S8, reached end of life with gearbox failure
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