So, I tried to book the car in for diagnostics, to be told it would be at least 4 weeks before I could get a courtesy car.
Without another option, I booked it in anyway. After that, the hazard lights flashing became a real problem with neighbours complaining that they were going off all night and lighting up their bedrooms. It got to the point that I had to leave the car open at night, which I wasn’t happy about.
Ended up calling Audi Assist, who came out to the car, read the fault codes and advised I took it to the nearest Audi dealer from where I was at the time. Anyway, to cut a long story short, I got a courtesy car from Audi within half an hour, they looked at the car the following day and replaced a door sensor the day after. Problem resolved and I can now lock the car safe in the knowledge it won’t keep the neighbours awake.
Strangely, Audi also found that a fuel pressure sensor was faulty and replaced that at the same time.... Bizarre.