Late to the party (so to speak) on this one, but we had rear sensor issues on our Allroad. The passenger side one had snapped one of the plastic linkages and we were quoted around £800 for a repair to both sides. Audi only seem to sell them as a complete unit for £175 each, but I managed to get both sides for £175 new of eBay.
Now the problem as you've alluded too is that to replace the complete unit you have to remove the upper suspension bolt. Not fancying that job, I removed the new sensor off the bracket and then removed the old one and replaced it that way.
However, on one side I couldn't get one of the screws out, so left the original sensor and just replaced the plastic linkage and lower mounting bracket. And it all worked.
Having gone through this process, if it happened again I would look to buy some cheap eBay copies (£20 a pair) and see if I could just use only the black plastic linkage and the lower mounting bracket.
In the broken one shown, the lower bracket ball joint had seized, so for a bit preventive maintenance, I would suggest easing the plastic cup off the steel ball and cleaning both sides and using some silicone grease to reduce any further corrosion.