For those of you that seem to witness an low speed turn groan coming from the front of your car, usually the driver's side it seems, you should contact your Audi Service Dept. and make sure that you explain the issue, and that another RS6 owner had this issue fixed by replacing the brake master cylinder.
I have not had this issue personally, but another RS6 owner posted on another forum, so I figured it would be helpful to all of us here as well.