Does it just come on for a few seconds or is it permanently there?
Also found this:
"Audi pre sense currently restricted. Restricted sensor vision due to surroundings.
See owner’s manual
This message appears if the radar sensor and camera view is obstructed. Clean the sensors and the area around the camera
Audi pre sense: currently restricted. Towing mode
Pre sense rear and the pre sense city braking interventions switch off automatically when the electrical connector in the factory-installed trailer hitch is connected. There is no guarantee the functions will switch off when using a retrofitted trailer hitch.
Audi pre sense: currently restricted
This message appears if the ESC is restricted or switched off
Audi pre sense: currently restricted.
See owner’s manual
This message appears when there is a temporary failure in a subsystem, such as the ESC. If this message appears repeatedly, contact your Audi dealer to have the malfunction corrected.
Audi pre sense: emergency braking system off
This message appears if the pre sense functions are switched off through the Infotainment system or if the system is not ready."