I'm looking for a way to kill the horrendous understeer in my S3. Is there a way to do so without fitting rock hard suspension and lowering it? I was thinking of maybe a rear anti roll bar, but do these make a lot of difference? Is a Haldex controller worth it? The tyres are getting changed for Michelin Pilot SuperSports as soon as the awful Bridgestones wear out (the sooner the better) so hopefully that will help, I'm just after other ideas and opinions if anyone else has done similar stuff to their S3.