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Hello all I have read through all these posts and you have all missed out a key part which I believe to be the problem with my Audi which I’ve changed almost everything under the sun on, for reference it is a Audi A3 2.0 TDI 2006. I am no mechanic however from going to several garages and having the same headache as some of you guys have had I found out that it was to do with the drive terrain in specific where the passenger side driveshaft connects to the gearbox there is a part in between the two which wears and makes this annoying grinding noise when turning one way while driving. Funny enough this part can only be bought from Audi at a cost of £300 if I remember correctly. My car is worth £1250 I couldn’t justify spending that much on the problem but I know from 2 years with this noise that it is the issue. thanks for reading let me know how it goes for you guys.