Driving home last night I thought I detected my clutch slipping I was in 4th gear and put my foot down and thought I heard the revs surge but not in line with my acceleration.
This morning I thought I'd do some testing, so when presented with some clear opportunities I put my foot down. I found that when trundling along doing a little over 2,000rpm (~45mph in 4th gear) if I buried my right foot the revs would surge to about 3,000rpm before dropping slightly. My speed did not increase in line with the increase in revs, and this effect was less noticeable in 3rd gear and more so in 5th. It seemed far more dependent on revs rather than speed. There was no wheelspin in any of the tests.
Does this sound like a clutch on its way out to you? The car's three years old and has done just over 40k miles. I bought it four months ago as an Audi Approved Used. Do Audi warranty clutches for any length of time?