Sway bar and anti roll bar are the same thing.
This question was regarding a S6.
Dont know how the RS2 is configured
The yanks also call them stabiliser bars.
Other factors could be KPI (King Pin Inclination, AKA steering axis) or tyre pressures - just replaced both front tyres on the niece's Golf due to extreme shoulder wear, inside and out - I checked the pressures and 23/24PSI HOT...

Oh, also give the wheels a spin - if it's out of round or true, that'll also cause problems - are they the OEM size and offset?.