A lot of it is down to how your local dealer deals with the claim. If it is an issue to do with the towbar or electrics they would reject a claim.
I would speak to your local dealer, explain your concerns and maybe ask them to check over the tow bar and give it a clean bill of health.
I have a...
It's easier to change the bulb by taking the headlight out, but it can be done without. Depends how big your hands are!
Bumper doesn't need to come off. I replaced mine with LEDs from Emtuning.
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Yes you need the module, cannot be coded.
I haven't used this but there is a write up over on RS246.
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I thought it was in the service schedule for all cars with Pano roof. Mine used to annoy me until they offered to service it. As stated above it is just a clean and re-grease with some 'special grease'. I think the standard price is around £120.
I have it done at 2 year intervals and it doesn't...
It will suit 90-95% of my driving. My commute to work is 14 miles mostly B roads. I will have a charger at work, where most of the charging will be done and also one at home. If I have to do longer journeys I will still have the RS4. I won't commit to selling that until I know the EV will work...