Car shuddering by turns when warmed up.

[MattRS6]

So got an 09 3.0T Quattro. The car is perfect when fluids are cold but it's shuddering when everything warms up and you make a slower turn. I know at slow speed and full turn this would be normal but even if I turn onto a road at 20mph it'll do it. No need for a full steering wheel turn

Replaced rear differential fluid already

[pezgoon]

What about center/transmission? Stick, auto, miles?