I recently purchased a 2012 Audi A4 Avant 1.8 petrol that’s done 20,000 miles on the original set of 225/50 R17 Pirelli Cinturato tyres. The tyres have worn well with 3mm left on the fronts and 5mm on the rear.

The car is excellent except that it often reacts to excessive camber or uneven road surfaces by wondering laterally, it even reacts when crossing thickly painted white lane markings. It seems to be worse in the wet. What should I do?