Hello Ron,
The answer to your in-bold question is a qualified yes. Qualified, since by the mileage you were doing, the service indicator should be set at an annual service. The alternative (if it’s still the same) is based on a higher annual mileage and is/was termed a Longlife service schedule, which often ran to 18k miles, or c18 months, whichever came first.
If you swapped to this schedule, you would obviously save one service in 3 years.
I would ask the question - why do you want to be governed by having this 6 year old car serviced at a main dealer, and if that is so important, why would you want to save the cost of one service in that 3 year period - by which time the car will be 9 years old?
Short journeys are not good for vehicles, since they are seldom operating under optimum conditions, so getting the oil changed once a year is a sort of investment.
If this were mine, I would be untrusting future servicing to a local trusted garage and insisting they use good quality parts. This should be cheaper than operating via. an 18 month schedule at Audi, and give you the same level of servicing as you have now. Some will insist that main dealer service history enhances the future value, but at 6 year old and more, the respective values will not cover your servicing costs.
Perhaps you would let us know what you decide to do going forward.
Kind regards,
Gareth.