Probably a suspension bushing. I had similar issue w/ my '96 A4 and apparently corrected it by simply applying silicone-based grease to all bushings. I assume I'll have to do this every year. I had it too, bushings in the lower rear control arms made most of the sound. Were badly smashed up so needed to be changed. Changed both lower arms as there were other bushings creaking also. No creaks anymore.
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