Your right on the engine. 100k is not big mileage at all if it's been serviced properly. I have heard of several over 250K and one with over 400K on it. The timing belt must be done every 80k and it must have had the proper oil.
The transmission though can be a different story. Audi do not service the transmission as they claim it is sealed for life. Remember, life to Audi is until the warranty runs out. If the box is silky smooth and less than 100k you may wish to leave well alone until it shows signs of trouble then do a filter and fluid change. If it's less than 80k you could well benefit from a regular service of filter and fluid every 20k. Over 125k is when they generally start to fail if they are going to. We have a number of examples on here of big mileage boxes, but I think they are the exception.
Personally if I had a high milage transmission I would start a service routine and if it percipitated a transmission fail by disturbing something then I would pay for a rebuild from a reputable transmission specilist and get the guarantees that go with it. These cars are good value and if your handy with a spanner, reasonable for the level of comfort and performance to run.
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Conan (the Librarian)
Watch it if you dare
Currently,
2000 S8, Merlin Purple, Leather Pack 1, Winter Pack 1, SPAX adjustable suspension, AP Racing 6 pot front caliper, 385mm fully floating disks, EBC Yellow Stuff Pads, Black Diamond grooved rear disks and predetor pads, D2 Doctors Brake Block.
1997 4.2 A8SQ - the Projekt. 12 years and ongoing!
1997 4.2 A8SQ - Ming Blue. Restoration sat waiting; saved from the Scrapyard
2003 C5 Allroad 4.2Q - Cobolt Blue. Towing car. Laid up awaiting manual conversion.
2005 C5 Allroad 2.5TDi FE - Grey - Workhorse.
2015 Q3QS SLine - Daytona Grey. Lots of extras! Long Haired Admirals cutter.
Previously
2003 C5 A6 1.9TDI FWD - Loaner from D2 Doctor Lifex
1997 S8 - Ming Blue. Loaned out and written off. I loved that car. My first engine swap after cambelt failure.
1996 4.2 A8SQ - Ming Blue. 178k on a cambelt! Trader's 8. Delivered to A8Parts at Lifex.
2003 2.8 A8SQ - powder blueish. Fill in for a while. Sold on.
1998 1.8T A4 Avant FWD. Ming Blue (there's a theme here), PEX for the 97 S8.
And a list of non VAG going back 40 years before I saw the light. 
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