A health check at audi is basically a hook up to the computer to see if there are any fault codes and they will have a poke about with a torch and tell you that you need a new tyre or some brakes!
In my experience a dealer will always charge 1 hours labour to hook your car up to the computer.
They would have to be incredibly bored or very generous to do it for free. If your car was being serviced or having other work done then yeah you could get it done inclusive.
If I was you i'd get it checked out by a local specialist. They will always have Vag com and be able to hook it up for a much more reasonable fee. My local place is Midland VW and they do it for £15 or sometimes for a "drink" if they are in a good mood!
Alternatively post your location on here and cry for help, there are a few members on here that have the right equipment if your nice to them!