There have been a few reported failed steering racks on S3s.
Sounds like yours might have the same problem.
No conclusion jumping here, just a constructive suggestion as the OP didnt mention anything about a problem in motion and under load.I had a similar thing, jumping wheel and clunk, it just needed a new wheel bearing, so don't jump to the conclusion that it's the steering rack.
the dealers said its normal so all good .
OK thanks for all the help the dealers said its normal so all good .
Mine also does this since the snow and ice has been around..... I think its normal.... and its only on full lock!
MY S4 used to do a similar thing....