It's been over a week now since I've had the problem. My mechanic thinks the wheels may have been a little loose and were wobbling since they were not snug against the hub. It was only one wheel in particular that was causing the problem. It's the only thing that we can think is the problem...
I recently had the same problem with my 03 A4 and it turns out the only problem was the wheels needed to be re-torqued. I just switched back to my summer tires. The ABS and ESP lights went out and I haven't had a problem since.
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