Hmm - with the car in Economy (Efficiency) mode, when you throttle off the car goes into coast mode effectively putting the gearbox into neutral allowing the car to free wheel at what should be tick over engine speed. With the gearbox in neutral there is no drive back through the geartrain from the wheels to maintain engine idle.
This could be where the issue sits. If it were me with the Audi overalls on I would be looking at sensors and settings around engine idle control.
The next question would be does the fault happen in Auto drive mode? I tried all drive modes when I first got mine and it sits in Auto Drive Select most of the time now with no perceivable difference in economy. I concede this is not a fix but could be a work around of sorts