One problem related to steering wheel has been reported for the 1996 Audi A4. The most recently reported issues are listed below.
While driving west on pennsylvania rt. 401 I drove over a small bump in the road, where a drain is buried under the road, and the passenger side front lower a arm snapped in half at a speed of 45 mph causing a catastrophic failure and the car to grind to a halt on the shoulder of the road.