I had the same issue on mine.
Never any fault codes and the odd warning would pop up.
Bought new pads, genuine cable holders on the back of the calipers, cleaned the plugs and bolted it all back up.
Been perfect ever since.
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06 3.0TDI Quattro:
Options:
Soft close Doors & Boot, Electric Blinds, Keyless Entry & Start, Bluetooth HandFree, Quad Zone Climate, APS+, 3 Spoke Sports Tiptronic Multi Function Steering Wheel, Heated Seats All Round, Black Leather Comfort Seats, AMI, Sunroof, Drivers & Passenger Electric Memory Seats, Auto Dimming Mirrors, Bi-Xenons AFS2, Dab, Digital TV, Reversing Camera, AV Inputs, Fridge, Solar Roof, TPMS, facelift rear lights, 3G, remote boot closure, Tow Bar.
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