If it turns out to be the haldex controller you might consider an upgraded unit. In which case Volkspower as an APR (and therefore Haldex) dealer would probably be a good choice of mechanic
http://www.goapr.com.au/products/haldex.html
Might help you feel bit better than paying a similar amount for stock one from VW.
I had a bit of a quick google about the place and came up with this little gem of information that you might like to try.
It's off an Audi forum so I don't know how applicable it is. LINKFor people with this symptom, try pulling up the handbrake just one notch, so the light comes on the dash to show its on, then try the manoevere. If it cures it, then it is the haldex controller only, one notch up disconnects the haldex. If it does not cure it, it is a mechanical issue with the haldex diff.
As a check if haldex is working, s quick start with one notch on the Hbrake should set the front's alight, whereas without it should grip and go..
Handy to remeber if you think you have haldex issues.
Pete
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