Not sure if you can find a smoking gun so-to-speak. VCDS scan would be diagnostic tool of choice, and if error was previously logged but DTCs were not cleared, then that historic data will be there, including instances. I think that’s remote, but never say never.
I assume this is brake servo pressure sensor error? Audi onboard computer says keep driving but seek service centre. Reality is that damages ABS as you’ve found out.
Other avenues, speak to Audi to see if fault was previously logged with them on digital history.
For VCDS to purchase, check out RossTech via Gendan.
More details here on issue via Dave Sterl.