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It could be the torque converter or a sticking valve. Try some tranX in it. This is a seal conditioer. This will help with the valve. I have a 2001 windstar that started doing this on a trip home and within fifty miles it stopped. The converter has to be replaced if it is bad. Just a note.. converters don't go out that often, It takes alot of miles and usually alot of heat to trash them and most times they either work or don't pull at all.
If your noise is a low pitch rumble that gets louder the faster you go, it likely is a wheel bearing that is the cause. Another sign that the noise is from a wheel bearing is if the noise tends to get louder when steering one direction at a steady speed, and quieter when steering the other direction. A transmission noise does not change with the steering.
usually if you start to hear a rumble, and by rumble i mean it sounds like a bunch of pieces of metal are clanking around in your exhaust then the catalytic converter needs to be repaired. It could also be the oxygen sensor which is located on top of the converter. Volvo did an interesting job of having them sit on top of each other.
Just one question,, 99 A3 or A4 chassis? An A4 chassis is not adjustable per say. The only adjustement to the camber is to shift the subframe unit left or right to make the 2 sides more equal possible. By shifting the unit after slacking the 4 bolts holding it to the chassis one side will become more negative and the other more positive as the 2 move together. There is a little adjustement in the ball joints but usually will make more problems to the caster when touched. By shifted the unit forwards and back you'll play with the caster a little too but not recommended. If it's still not in specs after doing this by alot you might consider something is bent.