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Judder in reverse

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I’ve started to notice a slight judder on my 18reg 1.4 tsi DSG when reversing on full lock. The car has done 33k miles, any ideas on cause please?

 

(I have extended warranty via PCP, so will be having it looked at, but would like to have an advance heads-up)

CV joint starting to show signs of wear?

 

Gaz

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