As far as I know - Inspection just refers to a general check of the vehicle (disks, pads, exhaust etc...), although I do not have a definitive list. You should get a video and general condition report of any items needing attention.
It will include oil & filter, however there are other items that need to be replaced depending on mileage (e.g. DSG oil every 40k, fuel filter every 40k, etc...etc...).
I understand Audi offers fixed price service plans - https://www.audi.co.uk/owners-area/service-plans.html - but cannot comment on whether this offers real value for money. If it were me, and the car out of warranty, I would look for an independent specialist (mine is a company car so not really a consideration for me).