Just had the same with my 2016 Audi Avant A4 2.0 tdi s line, and exactly the same as quote above, firstly had Brake pressure sensor boost & Start/stop restricted have driven around 250 miles in around 3 weeks and now i have a red light & message saying "Brake Fault - park safely" instead of the one before but the Start/Stop is still working fine and the car seems to be braking as normal, had the brake pressure tested on live data, was reading 0 and when brake depressed the pressure increased and was holding pressure with no problems.
I have no idea where to go from here nor does my local Audi/VW garage other than to replace the whole lot which obviously i do not want to do if not needed and also have been reading other threads saying i could damage the ABS pump (if not already damaged) if i carry on driving it. Being only a one car family it is a major headache.
At the end of the day it is what it is but i cant afford to chuck good money at parts i do not need.
Why is nothing ever easy !
If anyone knows where i should go from here please let me know.