Hello Peter,
Could we get back to first principles, and gather a little more detail:-
Tyre pressures used?
Matching tyre brands, patterns and tread depth on each axle, and hopefully all around?
Mileage -to better judge why one rear shock absorber needed to be renewed? Renewed by who? Why both weren’t renewed at the same time? Brand of replacement, if not renewed by an Audi dealer?
Has the car been inspected for acceptable steering and suspension wear?
Has the wheel alignment been checked - and perhaps adjusted - recently?
How you would best describe your diving style - ‘normal just getting there’, slightly enthusiastic > very enthusiastic?
Kind regards,
Gareth.