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N/S/F wheel wobble


Pallet19
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Hi, need some help. When driving my 2003 A3 TDI driving along the steering wheel starts to gently wobble then builds up to the point it feels like the wheel is going to fall off. If I pull over and find somewhere to turn the car around on full lock in both directions it stops. Recently its started getting more frequent. I can drive a couple of miles and it starts again.

Any ideas? 

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