Sounds like your passenger side cv joints are worn out even if the boot isn't tore. Same thing happened to me and some others.Here's more on that:http://forums.2gnt.com/dcboard.php?az=show_mesg&forum=4&topic_id=65139&mesg_id=65139&listing_type=search
Joel Baldridge, ASE Certified Master Technician, Audi Certified Expert Technician