Had same problem on my 3.2 V6 a few weeks ago.
Car was sat for a couple of days, cold start, cold weather. Lot's of "diesel" noise, sounded like an old cab. Then went away after a while. did this a couple of times.
Possible causes I found whilst trawling the web: cam chain tensioners which are oil pressured or blocked oil feeds to the said tensioners.
At the same time, I did also have an engine warning light on which had been on for a couple of months, and was in the process of diagnosing. Car ran fine, etc, apart from noise. I finally did do a scan and found that one of the Cam position sensors was giving a warning code.
Changed all four cam position sensors (around £30 each from Audi and 5 minutes work on the driveway for all of them to be swapped), and never had a problem since.
So conclusion I drew from this was that the inability to correclty measure the cam posiiton, somehow affected the tension in the chain causing the clatter/rattle that I heard. I believe the position sensors are also in line with cam actuators which push the cam from a low to high rise positon dependent on RPM.
Anyway, from what I gather, changing the tensioners may also be an idea, and I'd be intersted in hearing whether anyone else has done this on the 3.2 V6, cos Audi seem to be shying away from even quoting for the job. I do believe they can be done individually on both banks with engine in, but not sure. If so, I'd get those done too.