My audi trembles at very low speed and at initial acceleration but then goes away. can i drive to shop?

I know I need to take it to a shop which is perhaps 3 miles away. Is it okay to drive it, or must I get a tow? It just started happening in the middle of a 10 minute trip of city driving.My audi trembles at very low speed and at initial acceleration but then goes away. can i drive to shop?It should be ok to drive to the shop if your just going around 3 miles to get there, you may have a CB - joint going out %26amp; causing the car to shake.

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