Hi Natalie
I recently bought an Audi Q4 E-tron and is having the same problem. It is very scary. I recently took the car to my local Audi and they found 2 problems from the diagnostic unrelated to what I took it in for. The problem persist, and I am currently very annoyed to be honest.
Can you confirm if your problem persist or was it resolved by Audi?
Thanks again for the support