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Strange friction sound from divers side


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So usually when not accelerating, there is a weird intermittent sort of rubbing sound from drivers side down by wheel, kinds of sound like something spinning and rubbing its like cha cha cha cha (excuse the cha cha Chas don’t know how to explain it lol) does not always do it and it lasts for about 10 seconds so don’t even have time to brake test, pressing clutch does nothing to stop it


also have abs/traction control light on every now and then, and just as I was driving in the wet the wheel on the driver side seemed to jump a little

ive had a look underneath and nothing seems loose or broken!! Any ideas!!!  Audi A4 b6 avant diesel 1.9t


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