2002 S6
Within the past 5K I've done the timing belt service (thanks terrytcl for the tools!), KW ST coilovers, upper and lower control arms/tie rod ends, new passenger side axle, new wheels and tires and an alignment (have yet to replace rear driver's side toe arm due to seized bolt). Treadwear on the tires is fine. I had the wiggle when I bought the car and still have it after doing the maintenance.
I feel the vibration through the steering wheel when sitting at a light with the car in drive, not so much when accelerating but it becomes mega noticeable through the wheel and floor when at 50+mph.
Checked the trans mounts, they're okay for a car with 120K. Front driver's side motor mount is good, front passenger mount is leaking a tiny bit but no CEL. We tried to adjust the "snub mount" to see if that helped but it only alleviated a bit of a shake while sitting still in drive.
Any ideas what it could be?
I know it's not an RS6 driver's cup of tea, but here are two pictures.