1. Like others said, may be quattro rumble. Especially if it's more prominent during sharper turns at crawling speeds.
2. Does your steering feel floaty, or is it just that it doesn't return to center at high speeds? Does it favor a certain way? If it doesn't favor any direction and you say it drives straight, I don't believe it's an alignment issue. This thread may have information for you. There are also other threads about the topic you can search for. https://www.audizine.com/forum/showthread.php?t=894036
3. As stated before new plugs may help. It might also be engine mounts, as they go prematurely. And others have said it may just be the rough idle these cars have.
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