I haven't heard of anything especially with the height and reach feature on the steering column. But i would probably try Audi customer service. Not the main dealer as they wouldn't have a clue, but i'm sure Audi will have had this asked of them before.
this might not help, but my Dad had similar problems in his MR2, he used a small piece of wood to make up the difference then used sports pedals for the grip and to make it MOT'able