Yes but parts departments are weary of this these days & they dont tend to like giving out part numbers so much anymore as tbh I see there point, spend time for you then you go somewhere else.
I've got 1 of these sensors available if you want, cheaper than audi.
VCDS is always the best and easiest way to diagnose the fault. A physical inspection wouldn't go a miss either. I've replaced a lot of sensors on a VW Passat as the chrome sensors at the front flake away.
Just login to pdc which is 76, then in measuring blocks there will be a block that shows the sensors & it reads distances of detection, walk in front of each & see if its changing, whats exactly wrong with them?