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It sounds like one of the sensors maybe giving up.

You'll need to get it onto VAG-COM or some sort of diagnostics equipment to find out which one and what's up with it.

If you can get it hooked up, you can grab fault codes out, or with the snap-on one I use I would view a graph of all 4 sensors at the same time, and find that sensor has a different pattern to the others. Just remember if you do this though you have to do it on a straight, flat bit of road. Corners will make the results void as one wheel will be spinning faster.

Hope this helps.

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