There shouldn't be a beep if the mileage for next service has been reset. When you press the spanner button, you should get a mileage till next service. That should have reset to 10,000 miles or 365 days. If it hasn't the reset by button pressing didn't work.
You might need to take it to a garage with a code reader and reset tool. Look up Bosch service garages near you, they will be a lot cheaper than Audi and have all the necessary computer systems to check your problem