cuyatie

During acceleration at about 60mph, my car vibrates. ESP light goes on and causes the car to decelerate for a moment until wheels stabilize. I got new axles and the wheels balanced. Does anyone know if wheel bearing will cause this as well? or If you can give me input on what you think I should look at?

Thanks in advance!

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definitely the wheel bearing. Had that with my a4. Go replace it and you should be good to go!