Strange noise coming from clutch? after driving for about 20 mins

Audi Ashley

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So guys, When I have been driving for about 20mins or so, when my 7 speed auto changes gears or when releasing the brake, I get a funny whine/groan noise. I have been told it sounds like the clutch release bearing. Is this something that can happen to a nearly 3 year old car. Audi are going to investigate but is this covered by manufactures warranty ?