Id say put her on jack stands take off the rear wheels and let the wheels spin at idle in drive (assuming its a A4) then you should be able to pinpoint where the noise is coming from. Sounds to me like the abuntment bracket may be ceased. Its happened to me twice in 4 years with the front brakes. that would be the first thing I'd check. If you need to replace the calipers its pretty much straight forward. pick up a haines manual, at autozone, thats how I learned!
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