Just has this on rear o/s the other day, scanned with VCDS and it showed a fault on the door lock, fairly common according to Audi...only happened once so not replacing it yet...
Had the same problem on the passenger front door, luckilly my car is still under warrantly but I did the same thing on a MK4 Golf, a complete pain in the backside and after I'd finished it I swore I'd never do it again.
Does seem like its a weakness with VAG group cars.
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