Hi,
Model Year? Always include this - help others help you! It is not Tiptronic related - the Transaxle is in the back.
Could be any number of things from a bad Alignment (my strongest suspiscion, a worn Bushing, a failing Wheel Bearing , to an imbalanced or worn Tire(s), improper Tire inflation, or even lose lugnuts.
Try to see if it's worse when you turn in either or both directions. Check Tire Pressure and if you haven't had an alignment done, get one. If these don't do the trick, you'll need to have someone look at and/or drive the car. Hope this helps...
Happy Motoring!... Jim'99
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