As the title states I need some help with my S3 juddering on full lock / 3 point turns in both driving and reversing, I have changed the haldex controller / serviced the haldex coupling as the problem used to seem like the rear was locking up and dragging, but that now doesn't seem like the issue it seems like its from the front and stutters / judders and seems like the abs is kicking in and restricting it from moving properly?! Its a 2002 BAM engine model if this makes any difference. No fault codes as usual!! Thanks in advance!!