There is a widely-known issue in 2013+ audi electromechanical power steering that creates a sensation of a "notch" at 12:00 on the steering wheel. this notch forces you to manually keep the car in the lane by steering "back and forth in the notch". when you turn "beyond the notch" there is a sticking point. the faster the car is moving, the more pronounced these feelings become. i had hoped that my issue was related to the tires. unfortunately, waiting to purchase new tires has taken me out of warranty. after just installing new continental dws 06, the problem is as bad, or worse, than it has ever been. this is incredibly dangerous! researching online, many, many people have this problem. here is a link to an internet forum where some information has been consolidated: https://www.audiworld.com/forums/a6-c7-platform-discussion-194/audi-electric-steering-issue-reports-consolidated-2844976