Hi, i have an Y Reg S3 which has done 150,000 miles, recently i have noticed a nasty vibration/grinding noise from the back of the car when i accelerate to the left or right and its getting worse. I only notice it at low speed. Its started to trigger the traction control sensor. It happens both in and out of gear and its worse at full lock. Also when the car is cold and i pull away to the left or rite something seizes at the back and slows it down, its as though the brakes are holding but i am certain they're not. Has anyone else experienced this or can someone please tell me what it is?? Cheers.