I had a heater flap motor fail on my2018 A5.
A genuine OEM motor also cost me around £165.
A specialist Audi mechanic (4Rings in Dartford) replaced it. It was the driver's side that failed, which is more difficult to replace as there's little room to navigate (the bottom of the driver's side dash had to be removed, and there is another flap motor that had to be removed that was in the way).
Officially going by the book, the whole dash should be removed (depending on what flap needs replacing), but few youtube video's show that you can get away with removing just the bottom half of the dash. I advised the mechanic and he managed to do it that way saving about 4-6 hours labour!!!!
It took a couple of hours labour and they had to perform a 'basic setting' to pair up the part to the system. So you need a OBDII scanner with the basic setting function if you were to do a DIY job.
Personally, unless you have the tools, seen step by step how it's done, and it's on the passenger side, I would leave it to someone more experienced.
In total, it cost me around £460 (parts, labour + VAT).