Welcome to the forum.
To accurately diagnose what is wrong with your parking sensors you will need to connect vcds to the car.
I would not t waste my money on a generic code reader or a vcds clone if you want to take care of the car yourself properly.
If you consider audi will charge £100 quid each time you need to diagnose a fault the cost is quickly recovered by doing a few scans
In the short term there maybe a forum member that could help you out with scanning the car to narrow down your fault.
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