The trouble with all these warning lights id that they don't always leave a DTC in the fault log (that is a Diagnostic Trouble Code), which is what Audi interrogate when you take the car into them.
If there isn't a DTC, then usually, there is not a problem - warning lights can come on even due to the most momentary of electrical blips or errors. That doesn't necessarily mean that there is a fault, so the basic advice is take it to the dealer (esp. if still under warranty) and don't be surprised if you get told that there's nothing to worry about.