I saw this exact issue on another group on Facebook and saw a lot of suggestions. This noise wasn’t this bad when I saw the post, but I I did try one of the posted suggestions which was to lube all the boots and rubber bushings in the steering column. So I did this as best I could without having getting under the car and take the skid plate off. I even took the cover off that hides the steering shaft under the dash and sprayed silicone lube where ever I could. The noise all but was gone. But this was a couple months ago and it increasingly got worse. As seen in my posted video, it’s very annoying. No codes, steering/chassis system in OBD11/VAG all checks out.
I am hoping this is just a lube/binding issue.
Anyone experience this?