Thanks Guys!
Air/ a fault in the hydraulics makes sense to me most, especially given the recovery guy managed to pour more fluid in, just frustrating that Audi couldn't solve it. I'll get it checked in a mechanics and see if they are any more useful than Audi was.
I've said to her about resting the foot on the clutch but I suppose it is a habit at this point, unfortunately!
Thanks again, appreciate the info.