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.