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So Audi assist say its the control unit for the fuel pump.
A known issue as a small batch of pumps were released with the wrong software. He has ordered the part and will return tomorrow and carry out the repair on my drive.
I had same but on a 2016 PFL.
Symptoms were cutting out at low speed/standstill.
Back then the Audi Assist guy said same thing and he actually went and got the parts then came back the day after.
Only a matter of pulling up the rear bench seat.
Never had it on my FL though.
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Funnily enough the warning pinged up while I was stationary at a set of lights for about 90 seconds.
Audi assist guy is coming back tomorrow with the part , said much the same as you described "lift rear bench and replace the module" , claims it should only take 10 minutes or so
Do you have a ghost immobilizer?
I started mine once & forgot to put the code in, it came up with this exact message.