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Rumbling from rear wheels/suspension

(2001 Audi S4)
in M C B H Kaneohe Bay, HI on April 17, 2009
When the car starts moving from a stop, and especially when coming to a complete stop, there is a rumbling/shuddering noise that comes from the rear wheels/suspension. This only occurs at low speeds coming to a stop, or starting from a stop. This problem is more pronounced in the morning when I first start the car. Can anyone give me an idea of what this is?
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Popular Answer
on April 17, 2009
If you have an S4 Quatro, I would suspect the rear wheel drive components such as the inner CV joints.
on April 20, 2009
Thanks dandd, it's gotten steadily worse, I'm taking it in to get it diagnosed today.
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