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Are you getting any error codes? Is the check engine light on and/or blinking? The vibrating and other symptoms you described are common from shorted ignition coils. It also sounds like there's a separate issue with power steering - check your fluids, pump, and hoses.
Hi i have 02 audi a4 slimline. on motorway going 70 mph and to past a car dropped it down to fourth gear probly hit 90mph. Drove for a further hour and a half, and hear a bang under car. car started to loose power. was drivable but hissing noise come out of it when accelerating. Feels like turbo not kicking in. Would this be that the turbo has blown of maybe burst pipe or something. If anyone can share a light on this i would be very greatful. Cheers