It could be a dodgy bit of wire/wiring, but that generaly wouldn't always start bad and get better. It could just be intermittantly good/bad depending on how the wire wobbled.
It won't be the speaker - they either work or not. It'll most probably be a dry solder joint somehwere on the feeble Audi rear amp inside the sub enclosure. As the amp heats up it overcomes the problem and you get clean sound.
No way round it really but to take the sub and amp apart and resolder the PCB.
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