Hi and welcome to the Audi Owners Club
It could be a number of things such as Strut mount, Bushes, Worn ball joint.
Sometimes can get a lot of wear if the car gets mounted on kerbs a lot.
It is going to need to be looked at although it may not be dangerous, quite suprising how much you can give a suspension before it gives in. But the problem can get wrse and cost more later on.