Vibrating Steering Wheel on 2005 Audi A4 Quattro

My steering wheel is vibrating at low speeds, 10-20 mi/hr. It's not as bad at the higher speeds. is this an issue with the front tires needing to be balanced?

Any advice is greatly appreciated!

2 answers
most audi dealers and good tire shops use a "road force" balance machine which can pick up tire related issues that dont show up from balancing. a bent rim or tire problem are most likely but have tierods, brakes, etc checked.
Have the tires balanced first and tell them about the vibration as you might have a bent wheel or warped brake rotor