Judder when braking

Nearly 3 months into ownership and looks like my honeymoon is over. I have been getting a judder when braking from speeds of 70 and below. At first it felt like brake or tyre but has been getting worse last few days until tonight when whole car shuck when slowing fro 70 down to 30. It feels like transmission. I read codes when I got home and found this

8955 - valve 3 in Transmission part 1.
P17d4 00 (096) mechanical malfunction

I have cleared it and will check again in morning. It only happens at higher speeds. Car has76000 miles now. I had gearbox oil changed by audi when I got car about 3000 miles ago.

Any ideas or help.

Thanks

My car started juddering as well at high speeds when I pressed the brakes. Turned out the discs and pads needed replacing. No problems since.

It does not feel like pads or disks ( all quite new) and it does not come through brake pedal. Ifs like when you lock all the diffs on a 4x4 on tarmac and try turning. It happens even at very light brake force.

Had this on my C5 Quattro. I thought discs and tyre balance, but after a few years of this with several tyre and disc changes, it turned out to be a slightly flat spotted wheel rim, and a slightly bent wheel hub.

II fitted some new 18" wheels with my winter tyres on ( cross climate tyres) in place of my 19" wheels with crap tyres that was on when I got it. Went out for blast and drove it like it was stolen with lots of very very hard braking. When I got home with huge smile on my face, my wheels were black with brake dust. My judder has almost gone and error code has not come back. I can only assume that audi caused that error during gearbox oil change as it was not there before they got it. I'm going to fit new disks and pads all around just to make sure it's gone asim not sure what make is on but they are not original and make far to much dust for my liking.

Does it also happen on overrun or only when braking? I suggest you get underneath and check calipers, balls joints, suspension / bushes, driveshafts, engine / gearbox mounts to make sure nothing serious is about to come adrift, as the fault seems to be developing pretty quickly, could also be related to gearbox codes but I'd rule out safety critical bits first.. Sorry - just seen your last posr!! new pads and discs then ??

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Originally Posted by Stbb748

It does not feel like pads or disks ( all quite new) and it does not come through brake pedal. Ifs like when you lock all the diffs on a 4x4 on tarmac and try turning. It happens even at very light brake force.

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