Concurring with the above posts.
I’m astounded at Audi’s behaviour completely through the ownership of my A4.
It cost me £16,000 in 2019. I’ve had so many issues with it, like this ABS issue, ECU failures, I think I’ve replaced every sensor under the bonnet, AdBlue sensor failure, etc, etc. I’ve spent £9k to date and I’m currently looking at another £1.2k on having to drop the gearbox out to disassemble it to get at, wait for it, another sensor!
Audi have refused to acknowledge any inherent issues with the B9. All they say is “book it in for a diagnostic” then quote me crazy prices to fix things I can do myself or others can do at half the cost.
This was my first Audi, and will be my last VAG vehicle.