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The cheap and easy answer could be that its simply loose flanging aroung your exhaust system. Part of mine got loose and used to make a rattling sound like you describe. The more expensive alternative could be that its some component(s) of your suspension. Get it put up on a lift and have a mechanic check both.

Good luck.
 

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something could be losse somewhere , maybe shock mounts, brake
caliper, or exhuast.. might need to put it on the to take a better
look...
 

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Change the ends of the sway bar I just did mines and you could get this at ecs tuning.com way cheaper than any audi autoparts.
 

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Hello...

Might not be this ,..But my A6 Quattro had a slight knock when going over speed bumps..

Last night Changed Drivers side (RH) Lower Wish Bone <---Think thats what its called. Has a Large Knuckle on one side with Large Bushing,.Other side connects to Wheel with Ball Joint... Quiet now,.....Geat job...

Hope this helps,.........Colin
 
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