Mine started something similar when the window regulator was on the way out!
I replaced it and it's all good now!
I've got the number of a guy who supplies refurbed regulators on an exchange basis if you want to do it yourself.
Audi quoted me £750 per side and would only do both
Did you get this sorted? I’m new here but did read on the forum elsewhere that you can reset the windows to stop this issue by turning on the ignition only, then putting the window up and holding the switch up for 10 seconds. Then turn the ignition off and it should be reset. Apologies if this doesn’t work but worth a try and will save some money if it works. Let me know how you get on.