Following this myself, have a A6 Avant 2019 S Line 40 TDi with just over 100 miles on it, Saturday pulled away and got a error code that the central locking was faulty (Drive away auto locking) left while shopping came back and started it and error had gone and the drive away auto locking was ok, today been out for a drive and have now got error messages: Adaptive headlight, Main beam assist, Audi pre sense, lane departure unavailable, quick read of the manual and went out and cleaned the windscreen in front of the camera and all the sensors (not that they were dirty) started the car and all the error messages have gone (cleaning screen and sensors imo had no bearing on this) with the exception of a white circle with a car in it and a exclamation mark which apparently is something to do with the pre sense, going to visit the dealer tomorrow though waiting on a call back from the salesman.