I found this thread while researching my own S5 water issue, so I figured I would reply with my own situation.
I have a 2019 S5 Sportback with 7,000km on the clock which I bought brand new from an Audi dealer. This is my 3rd Audi 'S' vehicle. In the April of this year, I went to unlock the car and found that it was completely dead and had to use the emergency key to open the doors. Called Audi Roadside who sent out a tow truck to try and give the car a jump. After 30 minutes of trying, he could not get the car started. Instead of towing to Audi Service, he recommended that I try trickle charging the batter overnight first. I did so and the car was able to start the next morning, but the dash was full of errors and check engine light was on. I then drove the car the short 5km to my Audi local Service centre where along the way heard a large amount of water sloshing around on braking and acceleration.
Upon inspection, the Audi SA found a 'huge' amount of water in the chassis and said it likely got into the electronics causing the battery issue. My S5 spent almost two weeks in Service where they drained all the water out and completed dried out the car. I received a zero dollar invoice and assumed the problem was solved.
Six months later while driving my S5, I again started hearing the water sloshing sound. Took the car back into Audi service 2 weeks ago and its still there today. So far my SA said that they have drained out all the water and are waiting on some new parts to come in.
I've brought the issue up with my dealer and Audi Canada, but they couldn't care less and offered no solution.
At this point, I'm amazed that this is happening to a new car with less than 10,000km. The complete lack of response form my dealer and Audi Canada have convinced me to never buy another Audi again.
I'll continue to update this thread with any new information related to this issue.