Pulsing / jerking when decelerating 2001 2.5tdi quattro 6 speed manual

skyegtb

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2001 allroad 2.5tdi. When decelerating in gear above 40mph a noticeable pulsing / jerking is felt through the vehicle simultaneously with a 'clicking relay' sound from below the steering wheel area. I have suffered and lived with this issue for a few years now but really want to get to the bottom of it. The 'pulsing' is much more noticeable and even agressive when decelerating above 80mph, feeling almost like the brake is being touched slightly. Any opinions, questions, suggestions greatly accepted.
 
Still looking in to this and still stumped. The only notable thing is that both the driver and passenger side differential flanges for the driveshafts have some looseness to them suggesting worn bearings in the gearbox, but everything else checks out fine. Still unsure as to the clicking relay noise, but gues it might be ABS related. Has anyone here ever suffered anything similar with thier car?