This sounds like something that oil will not fix. Do you have the codes ? Hopefully some of our more knowledgeable Audi members will chime in.
I have some of the codes below.
Any feedback on these will be appreciated
6615 - Cam Adjustment Actuator B; Cylinder 3
P11AC 00 [096] - Implausible Signal
Intermittent - Not Confirmed - Tested Since Memory Clear
Freeze Frame:
Fault Status: 00000001
Fault Priority: 2
Fault Frequency: 3
Mileage: 257717 km
Date: 2020.08.26
Time: 12:49:59
Engine speed: 1525.00 /min
Normed load value: 74.5 %
Vehicle speed: 60 km/h
Coolant temperature: 36 °C
Intake air temperature: 12 °C
Ambient air pressure: 1010 mbar
Voltage terminal 30: 14.172 V
Unlearning counter according OBD: 40
Engine speed: actual: 768 /min
Calculated oil temperature: 66
Engine: operating status: IS
6023 - Bank 1: CMP Sensor 3 (G300) / Engine Speed Sens (G28)
P0017 00 [096] - Incorrect Correlation
Intermittent - Not Confirmed - Tested Since Memory Clear
Freeze Frame:
Fault Status: 00000001
Fault Priority: 2
Fault Frequency: 47
Mileage: 257787 km
Date: 2020.08.30
Time: 08:38:26
Engine speed: 1965.00 /min
Normed load value: 20.8 %
Vehicle speed: 77 km/h
Coolant temperature: 91 °C
Intake air temperature: 24 °C
Ambient air pressure: 1000 mbar
Voltage terminal 30: 13.968 V
Unlearning counter according OBD: 40
Engine speed: actual: 1632 /min
MAF_ENVD: 212.43529 mg/stroke
Coolant temperature (unfiltered): 94.5 °C
Engine: operating status: PL
ENVD_CAM_EX_1: 16
Vehicle speed: actual: 50 km/h
6615 - Cam Adjustment Actuator B; Cylinder 3
P11AC 00 [096] - Implausible Signal
Intermittent - Not Confirmed - Tested Since Memory Clear
Freeze Frame:
Fault Status: 00000001
Fault Priority: 2
Fault Frequency: 1
Mileage: 257791 km
Date: 2020.08.31
Time: 13:15:57
Engine speed: 1655.00 /min
Normed load value: 79.6 %
Vehicle speed: 36 km/h
Coolant temperature: 46 °C
Intake air temperature: 27 °C
Ambient air pressure: 1000 mbar
Voltage terminal 30: 13.968 V
Unlearning counter according OBD: 36
Engine speed: actual: 1632 /min
Calculated oil temperature: 3E
Engine: operating status: PL
6035 - Bank 1: CMP Sensor (G40) / Engine Speed Sensor (G28)
P0016 00 [096] - Incorrect Correlation
Intermittent - Not Confirmed - Tested Since Memory Clear
Freeze Frame:
Fault Status: 00000001
Fault Priority: 2
Fault Frequency: 2
Mileage: 257856 km
Date: 2020.08.31
Time: 13:55:31
Engine speed: 2345.00 /min
Normed load value: 52.9 %
Vehicle speed: 116 km/h
Coolant temperature: 94 °C
Intake air temperature: 23 °C
Ambient air pressure: 990 mbar
Voltage terminal 30: 13.866 V
Unlearning counter according OBD: 40
Engine speed: actual: 2336 /min
MAF_ENVD: 305.03529 mg/stroke
Coolant temperature (unfiltered): 94.5 °C
Engine: operating status: PL
ENVD_CAM_IN_1: 16
Vehicle speed: actual: 116 km/h
6044 - Bank 1: Camshaft B (Exhaust)
P0014 00 [096] - Retard Setpoint not Reached (Over-Advanced)
Intermittent - Not Confirmed - Tested Since Memory Clear
Freeze Frame:
Fault Status: 00000001
Fault Priority: 2
Fault Frequency: 1
Mileage: 257983 km
Date: 2020.09.02
Time: 11:29:07
Engine speed: 1255.00 /min
Normed load value: 30.6 %
Vehicle speed: 48 km/h
Coolant temperature: 91 °C
Intake air temperature: 28 °C
Ambient air pressure: 1010 mbar
Voltage terminal 30: 14.172 V
Unlearning counter according OBD: 38
Engine speed: actual: 1248 /min
MAF_ENVD: 163.41176 mg/stroke
Coolant temperature (unfiltered): 91.5 °C
Engine: operating status: PL
ENVD_CAM_EX_1: 0
Camshaft adjustment: exhaust: bank 1: actual: 1.125 °