It's supposed to do that..
The crabbing could be to do with the Haldex needing a servicing. When was the oil and filter last changed?
Mines developed a 'rubbing' noise that started on full lock right, but has started doing it a little when turning left now and doesn't have to even be on full lock. Went for a long drive the other day, and it seemed to of stopped when I returned home, but has started again.
PAS fluid is not moving, and it's not damp on the hard pressure pipes at the front of the sump under the car..
Needing to get it on a ramp to fully check everything over, but your problem sounds quite similar to mine, so if you find the cause, and visa-versa I'll share any info I can.
2000 APY S3
Originally Posted by <tuffty/>