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Colin mate tell us more about the car. For instance 2WD or 4WD, petrol or diesel, 2.0 or 3.0 or 3.2 or 4.2????
 

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Colin mate I suggest that you find a good VAG specialist and ask him. These cars are very solid but complex so cause could be almost anything from tyres to wheels to brakes to suspension.
You need to go thro all, one step at a time keeping notes too.
 

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What Simon is saying unless you can check the suspension DIY prepare to spend a few £££ at VAG specialist 😭😭😭

If you not touching the brake to cause the vibration you can safely rule that out.

The motorway vibration is caused by the worn out bush on the curved control arm. You need to do more research on this car. The bushed were upgraded on the late 2009 model with 75mm and the earlier models had smaller 65mm which are known to fail.

A 12 year suspension will need some spent to bring back to its former glory. You have not mentioned how long you owned this car and if any previous suspension work done.
 
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