I have the same problem. £2,000+vat for the new unit and £500+vat for removal/replacement. Audi said "Tough" even though the original (non-amber) message said "Brake servo: restricted. You can continue driving. Please contact workshop", then went to a red STOP warning with no further notice. I presume this is happening to me and others because we have driven our cars so little over the last year. My unit is currently with
www.ecutesting.com, and I'm hoping they can fix it more cheaply.
Audi said I should go to the Motor Ombudsman if I thought I they have made a bad decision, but then I reported it to the Driver and Vehicle Standards Agency (DVSA) here:
https://www.gov.uk/vehicle-recalls-and-faults/report-a-serious-safety-defect on the basis that ABS units are for safety and the messages were misleading. I could have been on the motorway when the red light showed!!
Maybe if other affected did the same, Audi might recall all 2017 B9s??