I had a similar issue with my D2, pads were only months old so knew there was a fault rather than pad wear. It's more annoying than anything so I was determined to find it. Wheels off and cables checked for damage, connections checked closely and dried out plugs and sprayed in some WD40 and I've never had the problem since. You may "fix it" without even finding the cause but sounds like you've had some water ingress in when washing the car.
Good luck
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Audi D3 S8 - 2007 - V10. B&O, Phantom Black, black and silver interior, and still completely standard with everything working as it should

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Audi TT - 2015 - Ultra