Thanks all - just replaced the brake booster pressure sensor on my A4 B9 - latest Part # 5Q0 906 207 A - hope it lasts longer than the original!
My car experienced the problem Brake Servo Restricted + Auto Stop / Start Disabled today at 3pm, and thanks to this website I'd found the problem, and fitted the replacement part by 5pm. The result = problem solved. :-) Excellent.