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if its a grinding/knocking type sound then it could be the cv joint gone bad.the side that makes the noise when you are loading during turning(turning left you are loading the right cv joint and vise versa)that is the side the bad joint is on.it will happen whether or not your foot is on the brake.if the noise happens as strickly a grinding noise like when brakes are metal to metal when applying the brakes then it could be brakes need replacing.also have seen were if the inner fender is loose or oversize tire is on it can rub sounding like grinding.
i would recomment replacing the fuel filter. it is the number one reason for TDI running problems. the grinding noise, if it is heard only when cranking could be the starter and also could be a failed dual-mass flywheel.
this model has a brake shield that may rub during a hard turn. i would also check the rotor bearings as well. check the fender wall for lose plastic wheel cover as well.
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