Hopefully somebody can shed some light on my situation. Brake/car shuddering

When at a red light or in traffic with slight pressure on the brake pedal. Or when u depress the brake pedal to creep forward. The car and brake pedal shudder/shake
Brought the car to Audi and they told me it was normal for dct transmission which I find very hard to believe as I've owned many dcts

Also while driving there is some sort of rotational noise wich you can feel more than hear in the floor and seats.

The tires are pretty low but I don't think there causing the problems.

Please help !


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