Its not the vcu mate was changed last yearWhen I had that funny judder on the rear wheel (usually opposite side to the full lock and car full of people), guess what it was: failed VCU giving too much torque on the read wheels and start slipping that wheel, TC (if you have one) will kick in. After replacing it, everything went back to normal ;-)
nowheel bearings?
Drive shaft CV joint?
R your wheel nuts tight.
Sorry for being so dumb I didn't read all the pages of posts