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hi, normally as i know if its the wheel bearing it must be noisier when you do turns as the load increases and its easier to find if its left or right side as if you turn left the right side have more load and if its faulty you should hear the griding noise, but also @140k miles i would inspect plugs and coils to make sure its not the ruff idle :) kind regards, Nikoloz
 

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Wheel bearings are producing audible noise, especially under load as I described in first comment.
Now regarding plugs and coils, do you have CEL on? "Check engine" . If yes you need to scan the car with VCDS vag com and see what fault codes are triggering the light, BTW touaregs are very sensitive to misfires and ECM is triggering the CEL as soon as any of the cylinder will have misfire more then five times in the row :)
 
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