I had a similar issue in my Q5. I turned off the active lane assist by pushing that small on/off button in turn signal lever and handling is fine now. I took it to the dealer three times and they said everything is fine!Well, much better at low-medium speeds but still rubbish at 60+ mph.
I think the only real solution is the rear sway bar which I would buy on its own in a heartbeat. Unfortunately it’s bundled expensively with the front which defo puts me off.