Auditing Differentially Private Stochastic Gradient Descent (DP-SGD) in the final model setting is challenging and often results in empirical lower bounds that are significantly looser than theoretical privacy guarantees. We introduce a novel auditing method that achieves tighter empirical lower bounds without additional assumptions by crafting worst-case adversarial samples through loss-based input-space auditing. Our approach surpasses traditional canary-based heuristics and is effective in both white-box and black-box scenarios. Specifically, with a theoretical privacy budget of $\varepsilon = 10.0$, our method achieves empirical lower bounds of $6.68$ in white-box settings and $4.51$ in black-box settings, compared to the baseline of $4.11$ for MNIST. Moreover, we demonstrate that significant privacy auditing results can be achieved using in-distribution (ID) samples as canaries, obtaining an empirical lower bound of $4.33$ where traditional methods produce near-zero leakage detection. Our work offers a practical framework for reliable and accurate privacy auditing in differentially private machine learning.