[oliviasmith]

S tronic jerking specifically in slow traffic while highway driving feels fine is a classic symptom pattern that experienced Audi specialists see regularly. Your mechatronic or adaptation theory is reasonable and worth proper diagnosis before assuming anything more expensive.

[oliviasmith]

Vibration that gets worse over time rather than staying the same is usually a sign something mechanical is actually deteriorating not just a quirk of the car. Engine mounts are one of those parts that wear gradually so the change feels normal until you drive a car with good mounts and realize how much smoother it should feel. Worth checking if the vibration has been building slowly over months.

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