If it only happens when you are braking I would suspect warped brake rotors. Other reasons the front end could shake would include unbalanced tires or the vehicle needing realignment. Whatever the case may be; driving a car in this condition is unsafe and you should repair it or have it repaired before you drive it again.
Wheels are out of balance
Posibilities are During braking Warped brake discs (rotors) Worn suspension components Excessive play in a front wheel bearing During normal driving Wheels out of balance Tyre out of shape damaged road wheel.
If it varies with driving speed, look for an out-of-round tire. If it vibrates only when braking, you probably have a warped brake rotor.
might have misaligned or loose wheels
Wheels require balancing.
You may need a wheel alignment, or you may need bushings.
Brake rotor/rotors are out of round / warped. Check rotors and REPLACE as needed.
Your Audi may start to shake while driving due to several potential issues, including unbalanced or misaligned wheels, worn-out tires, or suspension problems. Brake issues, such as warped rotors, can also cause vibrations, especially when braking. Additionally, engine or transmission problems may lead to shaking, particularly at certain speeds. It's best to have a professional mechanic diagnose the issue to ensure safe driving.
Wheel balance may be off...
Warped rotor and worn out brake pads.
It needs an front end alinement or your tires & wheels need rotated
If it happens when you are driving fast (60-70 MPH) it could be that your wheels are out of alignment.