Right some updates on my situation. I know its been around 8 months since I last posted about this issue, so this is the status.
I have had it taken to a friend who works at audi, and no faults were detected. It was also the first time he had ever seen anything like this and therefore had no answers for me...very frustrating as in the mean time, it was very very slowly, getting worse and more noticeable.
Now around three months ago, It underwent a full service, and I explained the issues and said when changing the diff oil/haldex oil and in that general area, could you look out for anything unusual or any ferrous metal bits in the oil, as the grinding sound when turn sounded like gears trying to mesh but failing and almost grinding.
Again, nothing was found, and everything was said to be in good working order from what he could see...and offered no explanation for the problem, other then to say, "I have never seen that before". I must admit, for about a week after, it would have appeared that it was slightly better, but this could have been due to me expecting it because I had just spent a lot of money having the care taken care of....but perhaps nothing had changed.
I have read on here, the trick with the hand brake, and thats one way to tell if the Haldex controller is working or not...and it made no difference at at all (tried pulling it up to various positions and nothing changed).
Now I have no experience with differentials apart from knowing the principle of operation, and I have read somewhere on here, about the possibility of changing that...
Now to me, this sounds like a huge deal, and a very costly one...and as I dont know whats going on in there, obviously im not sure if this would even fix the problem, as I still have not had this issue diagnosed.
Would possibly mind taken the time to explain what can actually go wrong with the operation of a 4WD system and especially the haldex system...which could cause this.
I also stumbled accross this, as I bumped into an old friend the other night and he said the R32 had the same or very similar system:
Rear diff binding - Performance and Technical - R32OC | VW Golf R32, Golf R and other .:R Vehicle Owners Club.
After reading this thread, they talk about removing the haldex controller fuse, and then see what happens. This will be my next step...but after that, I dont really know what my options are
Any further advice would be greatly appreciated
Anton