front end vibration

The largest issue with audi especially in the early 2000's it the tie rods joints and the cv boots being ripped. with all the pieces on the awd audi's thats the fist thing that needs to be replaced. i have done it to my 1999 a6 my 2000 a6 and my 2002 a6. Other things are simple like loose stud lugs and bad unbalanced tire.

It could also be something as simple as cold tires. Some brands get slightly out of round when sitting in the cold. Then smooth out as the tire heats up.

could it be something like worn bearings that take time to heat up instead of working straight away. not much experience on audis, as i dont have the money to buy one, but was the case on both my peugeots and rovers.

You are right Rich, but when any of my cars have a problem, I always check the easiest or cheapest first. He can take off the wheels and easily repack the wheel bearings, check the lugs with a torque wrench, check the tires for uneven wear and inspect the CV boots. If it is beyond that, he will have to pay someone with the special knowledge and tool to fix a more serious problem. My tech charges $75.00 per hour (and is worth it.) but I do as much as I can myself.

Is the vibration only occurring under hard acceleration? Or is it all of the time ?You should make certain that the front end components are all tight,and that the tires are in fact round(no shifted belts) and that the balance is good