i had similar issues start about 1-2 months ago on my 2010 2.0TDI a4B8. It started as random steering wheel vibrations, couldn't really define a specific speed it was happening at, as sometimes it was at 80kmh, other times at 120kmh. It then squealed occasionally for short periods of time, so I thought it may be stuck slide pins and possible pads touching on the discs whilst driving causing the vibrations - but the wheels/rims and parts were not getting hot so it wasn't stuck slide pins etc.
Then, the above random and intermittent vibrations stopped, and I started getting a faint 'whirring' or 'grinding' sound coming from the nearside front wheel.
To cut a long story short, the bad state of British roads (potholes, sunken manhole covers and gullies) took their toll on my Nearside bearing.
Initially I ordered a Febi bearing and hub replacement, thinking it was a quickish job to replace this, but had an absolute nightmare getting the brake caliper holder off to get to the rear bolts to change the bearing and hub out. 6 cobolt drill bits later and a lot of brute force I got absolutely nowhere.
I've ended up removing and replacing the whole Steering knuckle, bearing & hub, both top suspension guides (seized pincher bolt so couldn't get these off the knuckle part), lower front and rear wishbones (again - seized pincher bolt so there was no getting those off either) and various bolts and nuts (mostly all seized or properly welded should i say).
I'm taking mine out for a test drive tomorrow when I finish putting everything back together again, but I am confident this has solved my issue now. The Bushes on the arms were all pretty trashed (split) so the ride quality wasn't that great before, and the job needed doing anyway. It's a high motorway mileage car and I am now looking forward to not only having had the bearing replaced, but also new harder suspension on the nearside. Next week I will be changing the same parts on the offside as I have already ordered the parts off ebay which was allowing me to do the job at a fraction of the cost of taking it into a shop etc.
On your problem, the audible rattle is something I wasn't getting. Mine was more like a squeal at times. But i for sure got the wobbly steering wheel whilst driving and also during breaking. You have a similar aged auto to mine and chances are the bearings have reached EOL. But if you do end up having to change the bearing and hub, be prepared for a world of pain, as you will probably find most of the bolts seized.