To update this I had the repair done by Audi yesterday. It was just the sensor that needed replacing, no ABS issues thankfully.
Total cost of the repair was £336 of which £195 was labour! Fortunately I have a 3rd party warranty which covers some of it so I'll get £176 back.
That leaves me £160 out of pocket but if I'd done it myself I'd have paid £102 to buy the sensor from Audi anyway so I'm not to upset about that.
Thanks all for the advice, could have been so much worse if I hadn't read this forum 👍