I would check that the handbrake lever on one (or both) of the callipers hasn’t seized. I just went through the same thing at MOT time. Both of my rear callipers have been refurbed, but with little use, the handbrake mech does seize remarkably frequently…..nothing to stop crud getting in. It feels like the cable has stretched, but it may be fine. I had a spare calliper, swapped it out, and handbrake now engages with 3 or 4 clicks..
Zip
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2002 D2 S8: Ebony Black over Platinum. A8L Comfort front seats in black (  ), heated rear seats, extended Leather Pack 3, blinds, glass sunroof, MFSW, Dension Gateway 100 for iPod, ski-hatch, xenon plus, auto dimming mirrors, 20" FE wheels, billet aluminium 'brake block', gunmetal Brembo calipers 
2005 B6 S4 Cabriolet: Ebony Black Pearl over Silver. RNS-E, Bose, heated seats, cruise control, retrofit aux-in, centre armrest, Milltek resonated exhaust
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