Steering judder on full lock

[A8 Ian]

Hi All,

In my D3 on full lock I had the usual quattro judder, on my D4 the lock is much better than the D3 but on full lock I get this horrid feeling like it's skipping across the road..
Kind of like when you see an artic lorry go full lock and you can see the wheels simply can't turn so they kind of scrub ..

Well I can't think how to explain it but it's not very nice..
Is this normal or do I need to get it to Audi?

At car parking speeds I should point out!

Thanks
Ian