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Hello How to verify the inner joints? Leave the car in neutral - engine off Go under the car Grab the inner joint and turn it front and back Then the other side You can, which I do not recommend, lift the car Put it in 5th gear Start it and block one wheel Look what is happening Is there silence or something crunches In this particular case there was play felt in the joint when the car was standing on the ground It crunched during checking on the raised car when one of the wheels was blocked and the other in motion. When everything is OK everything should be stiff! If the joint has play in the front and back and squeaks during verification in 99% of cases it needs to be replaced Also accompanied by other symptoms indicating that the joint is at the end of its lifespan e.g. in this particular car during acceleration in 4th and 5th gear at about 100 km/h the car would start to vibrate strongly Attention the car does not have a steering wheel despite the fact that Audi has front-wheel drive After replacing the joint with a new one the symptoms and ailments disappeared I wish you a pleasant viewing :) Best regards __MasterSkrzek__