Hi Pablo. I once had a vehicle with similarsymptoms. Although not with an Antara it was on another FWD vehicle - a Landrover Defender. It turned out to be the front diff which needed replacing. As you can imagine, on a Landy this was not a cheap fix.
I hope that it is something much simpler (and cheaper) in your case.
I hope that it is something much simpler (and cheaper) in your case.